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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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93
examples/pybullet/examples/createMultiBodyLinks.py
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@@ -1,56 +1,73 @@
import pybullet as p
import time
p.connect(p.GUI)
p.createCollisionShape(p.GEOM_PLANE)
p.createMultiBody(0,0)
p.createMultiBody(0, 0)
sphereRadius = 0.05
colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
colBoxId = p.createCollisionShape(p.GEOM_BOX,
halfExtents=[sphereRadius, sphereRadius, sphereRadius])
mass = 1
visualShapeId = -1
link_Masses=[1]
linkCollisionShapeIndices=[colBoxId]
linkVisualShapeIndices=[-1]
linkPositions=[[0,0,0.11]]
linkOrientations=[[0,0,0,1]]
linkInertialFramePositions=[[0,0,0]]
linkInertialFrameOrientations=[[0,0,0,1]]
indices=[0]
jointTypes=[p.JOINT_REVOLUTE]
axis=[[0,0,1]]
link_Masses = [1]
linkCollisionShapeIndices = [colBoxId]
linkVisualShapeIndices = [-1]
linkPositions = [[0, 0, 0.11]]
linkOrientations = [[0, 0, 0, 1]]
linkInertialFramePositions = [[0, 0, 0]]
linkInertialFrameOrientations = [[0, 0, 0, 1]]
indices = [0]
jointTypes = [p.JOINT_REVOLUTE]
axis = [[0, 0, 1]]
for i in range (3):
for j in range (3):
for k in range (3):
basePosition = [1+i*5*sphereRadius,1+j*5*sphereRadius,1+k*5*sphereRadius+1]
baseOrientation = [0,0,0,1]
if (k&2):
sphereUid = p.createMultiBody(mass,colSphereId,visualShapeId,basePosition,baseOrientation)
else:
sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,basePosition,baseOrientation,linkMasses=link_Masses,linkCollisionShapeIndices=linkCollisionShapeIndices,linkVisualShapeIndices=linkVisualShapeIndices,linkPositions=linkPositions,linkOrientations=linkOrientations,linkInertialFramePositions=linkInertialFramePositions, linkInertialFrameOrientations=linkInertialFrameOrientations,linkParentIndices=indices,linkJointTypes=jointTypes,linkJointAxis=axis)
p.changeDynamics(sphereUid,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
for joint in range (p.getNumJoints(sphereUid)):
p.setJointMotorControl2(sphereUid,joint,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
for i in range(3):
for j in range(3):
for k in range(3):
basePosition = [
1 + i * 5 * sphereRadius, 1 + j * 5 * sphereRadius, 1 + k * 5 * sphereRadius + 1
]
baseOrientation = [0, 0, 0, 1]
if (k & 2):
sphereUid = p.createMultiBody(mass, colSphereId, visualShapeId, basePosition,
baseOrientation)
else:
sphereUid = p.createMultiBody(mass,
colBoxId,
visualShapeId,
basePosition,
baseOrientation,
linkMasses=link_Masses,
linkCollisionShapeIndices=linkCollisionShapeIndices,
linkVisualShapeIndices=linkVisualShapeIndices,
linkPositions=linkPositions,
linkOrientations=linkOrientations,
linkInertialFramePositions=linkInertialFramePositions,
linkInertialFrameOrientations=linkInertialFrameOrientations,
linkParentIndices=indices,
linkJointTypes=jointTypes,
linkJointAxis=axis)
p.changeDynamics(sphereUid,
-1,
spinningFriction=0.001,
rollingFriction=0.001,
linearDamping=0.0)
for joint in range(p.getNumJoints(sphereUid)):
p.setJointMotorControl2(sphereUid, joint, p.VELOCITY_CONTROL, targetVelocity=1, force=10)
p.setGravity(0,0,-10)
p.setGravity(0, 0, -10)
p.setRealTimeSimulation(1)
p.getNumJoints(sphereUid)
for i in range (p.getNumJoints(sphereUid)):
p.getJointInfo(sphereUid,i)
while (1):
keys = p.getKeyboardEvents()
print(keys)
for i in range(p.getNumJoints(sphereUid)):
p.getJointInfo(sphereUid, i)
time.sleep(0.01)
while (1):
keys = p.getKeyboardEvents()
print(keys)
time.sleep(0.01)