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add yapf style and apply yapf to format all Python files

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This recreates pull request #2192
This commit is contained in:
Erwin Coumans
2019-04-27 07:31:15 -07:00
parent c591735042
commit ef9570c315
347 changed files with 70304 additions and 22752 deletions
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137
examples/SharedMemory/grpc/pybullet_client.py
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@@ -10,69 +10,86 @@ import pybullet_pb2_grpc
#todo: how to add this?
MJCF_COLORS_FROM_FILE = 512
def run():
print("grpc.insecure_channel")
channel = grpc.insecure_channel('localhost:6667')
print("pybullet_pb2_grpc.PyBulletAPIStub")
stub = pybullet_pb2_grpc.PyBulletAPIStub(channel)
response=0
print("grpc.insecure_channel")
channel = grpc.insecure_channel('localhost:6667')
print("pybullet_pb2_grpc.PyBulletAPIStub")
stub = pybullet_pb2_grpc.PyBulletAPIStub(channel)
response = 0
print("submit CheckVersionCommand")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(checkVersionCommand=pybullet_pb2.CheckVersionCommand(clientVersion=123)))
print("PyBullet client received: " , response)
print("submit CheckVersionCommand")
response = stub.SubmitCommand(
pybullet_pb2.PyBulletCommand(checkVersionCommand=pybullet_pb2.CheckVersionCommand(
clientVersion=123)))
print("PyBullet client received: ", response)
print("submit_ResetSimulationCommand")
response = stub.SubmitCommand(
pybullet_pb2.PyBulletCommand(resetSimulationCommand=pybullet_pb2.ResetSimulationCommand()))
print("PyBullet client received: ", response)
print("submit LoadUrdfCommand ")
response = stub.SubmitCommand(
pybullet_pb2.PyBulletCommand(loadUrdfCommand=pybullet_pb2.LoadUrdfCommand(
fileName="door.urdf",
initialPosition=pybullet_pb2.vec3(x=0, y=0, z=0),
useMultiBody=True,
useFixedBase=True,
globalScaling=2,
flags=1)))
print("PyBullet client received: ", response)
bodyUniqueId = response.urdfStatus.bodyUniqueId
print("submit LoadSdfCommand")
response = stub.SubmitCommand(
pybullet_pb2.PyBulletCommand(loadSdfCommand=pybullet_pb2.LoadSdfCommand(
fileName="two_cubes.sdf", useMultiBody=True, globalScaling=2)))
print("PyBullet client received: ", response)
print("submit LoadMjcfCommand")
response = stub.SubmitCommand(
pybullet_pb2.PyBulletCommand(loadMjcfCommand=pybullet_pb2.LoadMjcfCommand(
fileName="mjcf/humanoid.xml", flags=MJCF_COLORS_FROM_FILE)))
print("PyBullet client received: ", response)
print("submit ChangeDynamicsCommand ")
response = stub.SubmitCommand(
pybullet_pb2.PyBulletCommand(changeDynamicsCommand=pybullet_pb2.ChangeDynamicsCommand(
bodyUniqueId=bodyUniqueId, linkIndex=-1, mass=10)))
print("PyBullet client received: ", response)
print("submit GetDynamicsCommand ")
response = stub.SubmitCommand(
pybullet_pb2.PyBulletCommand(getDynamicsCommand=pybullet_pb2.GetDynamicsCommand(
bodyUniqueId=bodyUniqueId, linkIndex=-1)))
print("PyBullet client received: ", response)
print("submit InitPoseCommand")
response = stub.SubmitCommand(
pybullet_pb2.PyBulletCommand(initPoseCommand=pybullet_pb2.InitPoseCommand(
bodyUniqueId=bodyUniqueId, initialStateQ=[1, 2, 3], hasInitialStateQ=[1, 1, 1])))
print("PyBullet client received: ", response)
print("submit RequestActualStateCommand")
response = stub.SubmitCommand(
pybullet_pb2.
PyBulletCommand(requestActualStateCommand=pybullet_pb2.RequestActualStateCommand(
bodyUniqueId=bodyUniqueId, computeForwardKinematics=True, computeLinkVelocities=True)))
print("PyBullet client received: ", response)
i = 0
while (True):
i = i + 1
print("submit StepSimulationCommand: ", i)
response = stub.SubmitCommand(
pybullet_pb2.PyBulletCommand(stepSimulationCommand=pybullet_pb2.StepSimulationCommand()))
print("PyBullet client received: ", response.statusType)
print("submit_ResetSimulationCommand")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(resetSimulationCommand=pybullet_pb2.ResetSimulationCommand()))
print("PyBullet client received: ", response)
print("submit LoadUrdfCommand ")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(loadUrdfCommand=pybullet_pb2.LoadUrdfCommand(fileName="door.urdf", initialPosition=pybullet_pb2.vec3(x=0,y=0,z=0), useMultiBody=True, useFixedBase=True, globalScaling=2, flags = 1)))
print("PyBullet client received: " , response)
bodyUniqueId = response.urdfStatus.bodyUniqueId
print("submit LoadSdfCommand")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(loadSdfCommand=pybullet_pb2.LoadSdfCommand(fileName="two_cubes.sdf", useMultiBody=True, globalScaling=2)))
print("PyBullet client received: " , response)
print("submit LoadMjcfCommand")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(loadMjcfCommand=pybullet_pb2.LoadMjcfCommand(fileName="mjcf/humanoid.xml",flags=MJCF_COLORS_FROM_FILE)))
print("PyBullet client received: " , response)
print("submit ChangeDynamicsCommand ")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(changeDynamicsCommand=pybullet_pb2.ChangeDynamicsCommand(bodyUniqueId=bodyUniqueId, linkIndex=-1, mass=10)))
print("PyBullet client received: " , response)
print("submit GetDynamicsCommand ")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(getDynamicsCommand=pybullet_pb2.GetDynamicsCommand(bodyUniqueId=bodyUniqueId, linkIndex=-1)))
print("PyBullet client received: " , response)
print("submit InitPoseCommand")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(initPoseCommand=pybullet_pb2.InitPoseCommand(bodyUniqueId=bodyUniqueId, initialStateQ=[1,2,3],hasInitialStateQ=[1,1,1])))
print("PyBullet client received: " , response)
print("submit RequestActualStateCommand")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(requestActualStateCommand=pybullet_pb2.RequestActualStateCommand(bodyUniqueId=bodyUniqueId, computeForwardKinematics=True, computeLinkVelocities=True )))
print("PyBullet client received: " , response)
i=0
while(True):
i=i+1
print("submit StepSimulationCommand: ", i)
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(stepSimulationCommand=pybullet_pb2.StepSimulationCommand()))
print("PyBullet client received: " , response.statusType)
#print("TerminateServerCommand")
#response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(terminateServerCommand=pybullet_pb2.TerminateServerCommand()))
#print("PyBullet client received: " , response.statusType)
#print("TerminateServerCommand")
#response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(terminateServerCommand=pybullet_pb2.TerminateServerCommand()))
#print("PyBullet client received: " , response.statusType)
if __name__ == '__main__':
run()
run()