Fix angular velocities in replay augmenter

rlgym_tools/extra_state_setters/augment_setter.py

@@ -87,7 +87,7 @@ def mirror_front_back(state_wrapper: StateWrapper):
         for obj in [state_wrapper.ball] + state_wrapper.cars:
             obj.set_pos(*(mul * obj.position))
             obj.set_lin_vel(*(mul * obj.linear_velocity))
-            obj.set_ang_vel(*(mul * obj.angular_velocity))
+            obj.set_ang_vel(*(-mul * obj.angular_velocity))  # Angular velocities are negated
 
             if isinstance(obj, CarWrapper):
                 pitch, yaw, roll = obj.rotation
@@ -104,7 +104,7 @@ def mirror_left_right(state_wrapper: StateWrapper):
         for obj in [state_wrapper.ball] + state_wrapper.cars:
             obj.set_pos(*(mul * obj.position))
             obj.set_lin_vel(*(mul * obj.linear_velocity))
-            obj.set_ang_vel(*(mul * obj.angular_velocity))
+            obj.set_ang_vel(*(-mul * obj.angular_velocity))  # Angular velocities are negated
 
             if isinstance(obj, CarWrapper):
                 pitch, yaw, roll = obj.rotation

rlgym_tools/extra_state_setters/goalie_state.py

@@ -16,9 +16,11 @@
 
 YAW_MAX = np.pi
 
+
 class GoaliePracticeState(StateSetter):
 
-    def __init__(self, aerial_only=False, allow_enemy_interference=False, first_defender_in_goal=False, reset_to_max_boost=True):
+    def __init__(self, aerial_only=False, allow_enemy_interference=False, first_defender_in_goal=False,
+                 reset_to_max_boost=True):
         """
         GoaliePracticeState constructor.
 
@@ -28,8 +30,8 @@ def __init__(self, aerial_only=False, allow_enemy_interference=False, first_defe
         :param reset_to_max_boost: Boolean indicating whether the cars will start each episode with 100 boost or keep from last episode
         """
         super().__init__()
-        self.team_turn = 0 #swap every reset who's getting shot at
-        
+        self.team_turn = 0  # swap every reset who's getting shot at
+
         self.aerial_only = aerial_only
         self.allow_enemy_interference = allow_enemy_interference
         self.first_defender_in_goal = first_defender_in_goal
@@ -42,13 +44,14 @@ def reset(self, state_wrapper: StateWrapper):
         :param state_wrapper: StateWrapper object to be modified with desired state values.
         """
         self._reset_ball(state_wrapper, self.team_turn, self.aerial_only)
-        self._reset_cars(state_wrapper, self.team_turn, self.first_defender_in_goal, self.allow_enemy_interference, self.reset_to_max_boost)
-
-        #which team will recieve the next incoming shot
+        self._reset_cars(state_wrapper, self.team_turn, self.first_defender_in_goal, self.allow_enemy_interference,
+                         self.reset_to_max_boost)
+
+        # which team will recieve the next incoming shot
         self.team_turn = (self.team_turn + 1) % 2
-
 
-    def _reset_cars(self, state_wrapper: StateWrapper, team_turn, first_defender_in_goal, allow_enemy_interference, reset_to_max_boost):
+    def _reset_cars(self, state_wrapper: StateWrapper, team_turn, first_defender_in_goal, allow_enemy_interference,
+                    reset_to_max_boost):
         """
         Function to set cars in preparation for an incoming shot
 
@@ -61,47 +64,44 @@ def _reset_cars(self, state_wrapper: StateWrapper, team_turn, first_defender_in_
         first_set = False
         for car in state_wrapper.cars:
             # set random position and rotation for all cars based on pre-determined ranges
-            
-            if car.team_num == team_turn and not first_set:   
+
+            if car.team_num == team_turn and not first_set:
                 if first_defender_in_goal:
                     y_pos = -GOAL_LINE if car.team_num == 0 else GOAL_LINE
                     car.set_pos(0, y_pos, z=17)
                     first_set = True
                 else:
                     self._place_car_in_box_area(car, team_turn)
-                    
+
             else:
                 if allow_enemy_interference:
                     self._place_car_in_box_area(car, team_turn)
-                
+
                 else:
-                    self._place_car_in_box_area(car, car.team_num)                    
-
-
+                    self._place_car_in_box_area(car, car.team_num)
+
             if reset_to_max_boost:
                 car.boost = 100
-
-            car.set_rot(0, rand.random() * YAW_MAX - YAW_MAX/2, 0) 
-
-
-
+
+            car.set_rot(0, rand.random() * YAW_MAX - YAW_MAX / 2, 0)
+
     def _place_car_in_box_area(self, car, team_delin):
         """
         Function to place a car in an allowed areaI 
 
         :param car: car to be modified
         :param team_delin: team number delinator to look at when deciding where to place the car
         """
-    
-        y_pos = (PLACEMENT_BOX_Y - (rand.random() * PLACEMENT_BOX_Y)) 
-        
+
+        y_pos = (PLACEMENT_BOX_Y - (rand.random() * PLACEMENT_BOX_Y))
+
         if team_delin == 0:
             y_pos -= PLACEMENT_BOX_Y_OFFSET
         else:
             y_pos += PLACEMENT_BOX_Y_OFFSET
-    
-        car.set_pos(rand.random() * PLACEMENT_BOX_X - PLACEMENT_BOX_X/2, y_pos, z=17) 
-        
+
+        car.set_pos(rand.random() * PLACEMENT_BOX_X - PLACEMENT_BOX_X / 2, y_pos, z=17)
+
     def _reset_ball(self, state_wrapper: StateWrapper, team_turn, aerial_only):
         """
         Function to set a new ball towards a goal
@@ -110,62 +110,61 @@ def _reset_ball(self, state_wrapper: StateWrapper, team_turn, aerial_only):
         :param team_turn: team who's getting shot at
         :param aerial_only: Boolean indicating whether should shots only be from the air
         """
-        
+
         pos, lin_vel, ang_vel = self._get_shot_parameters(team_turn, aerial_only)
         state_wrapper.ball.set_pos(pos[0], pos[1], pos[2])
         state_wrapper.ball.set_lin_vel(lin_vel[0], lin_vel[1], lin_vel[2])
         state_wrapper.ball.set_ang_vel(ang_vel[0], ang_vel[1], ang_vel[2])
-        
+
     def _get_shot_parameters(self, team_turn, aerial_only):
         """
         Function to set a new ball towards a goal
         
         :param team_turn: team who's getting shot at
         :param aerial_only: Boolean indicating whether should shots only be from the air
         """
-        
+
         # *** Magic numbers are from manually calibrated shots ***
         # *** They are unrelated to numbers in other functions ***
-    
-        shotpick = random.randrange(4)        
-        INVERT_IF_BLUE = (-1 if team_turn == 0 else 1) #invert shot for blue
-        
-        #random pick x value of target in goal
+
+        shotpick = random.randrange(4)
+        INVERT_IF_BLUE = (-1 if team_turn == 0 else 1)  # invert shot for blue
+
+        # random pick x value of target in goal
         x_pos = random.uniform(GOAL_X_MIN, GOAL_X_MAX)
-        
-        #if its not an air shot, we can randomize the shot speed
-        shot_randomizer = 1 if aerial_only else (random.uniform(.2,1) )
-        
+
+        # if its not an air shot, we can randomize the shot speed
+        shot_randomizer = 1 if aerial_only else (random.uniform(.2, 1))
+
         y_vel = (3000 * INVERT_IF_BLUE) if aerial_only else (3000 * shot_randomizer * INVERT_IF_BLUE)
-        if shotpick == 0: #long range shot 
-             
-            z_pos = 1500 if aerial_only else random.uniform(100, 1500) 
-            
-            pos = np.array([x_pos,  -3300 * INVERT_IF_BLUE, z_pos])
+        if shotpick == 0:  # long range shot
+
+            z_pos = 1500 if aerial_only else random.uniform(100, 1500)
+
+            pos = np.array([x_pos, -3300 * INVERT_IF_BLUE, z_pos])
             lin_vel = np.array([0, y_vel, 600])
-        elif shotpick == 1: #medium range shot
-            z_pos =  1550 if aerial_only else random.uniform(100,  1550)  
-            
+        elif shotpick == 1:  # medium range shot
+            z_pos = 1550 if aerial_only else random.uniform(100, 1550)
+
             pos = np.array([x_pos, -500 * INVERT_IF_BLUE, z_pos])
             lin_vel = np.array([0, y_vel, 100])
-            
-        elif shotpick == 2: #angled shot    
-            z_pos =  1500 if aerial_only else random.uniform(100,  1500) 
-            x_pos += 3200 #add offset to start the shot from the side
-            
-            pos = np.array([x_pos,  0, z_pos])
+
+        elif shotpick == 2:  # angled shot
+            z_pos = 1500 if aerial_only else random.uniform(100, 1500)
+            x_pos += 3200  # add offset to start the shot from the side
+
+            pos = np.array([x_pos, 0, z_pos])
             lin_vel = np.array([-1900 * shot_randomizer, y_vel, 0])
-            
-        elif shotpick == 3: # opposite angled shot    
-            z_pos =  1500 if aerial_only else random.uniform(100,  1500) 
-            x_pos -= 3200 #add offset to start the shot from the other side
-            
-            pos = np.array([x_pos,  0, z_pos])
+
+        elif shotpick == 3:  # opposite angled shot
+            z_pos = 1500 if aerial_only else random.uniform(100, 1500)
+            x_pos -= 3200  # add offset to start the shot from the other side
+
+            pos = np.array([x_pos, 0, z_pos])
             lin_vel = np.array([1900 * shot_randomizer, y_vel, 0])
         else:
             print("FAULT")
-        
+
         ang_vel = np.array([0, 0, 0])
-        
+
         return pos, lin_vel, ang_vel
-

rlgym_tools/version.py

@@ -5,9 +5,14 @@
 # 3) we can import it into your module module
 # https://stackoverflow.com/questions/458550/standard-way-to-embed-version-into-python-package
 
-__version__ = '1.6.0'
+__version__ = '1.6.1'
 
 release_notes = {
+    '1.6.1': {
+        """
+        - Fixed angular velocities in replay augmenter
+        """
+    },
     '1.6.0': {
         """
         - Added GoaliePracticeState setter (Soren)