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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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24
examples/pybullet/examples/humanoid_benchmark.py
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@@ -1,20 +1,25 @@
import pybullet as p
import time
p.connect(p.DIRECT)
p.setGravity(0,0,-10)
p.setGravity(0, 0, -10)
p.setPhysicsEngineParameter(numSolverIterations=5)
p.setPhysicsEngineParameter(fixedTimeStep=1./240.)
p.setPhysicsEngineParameter(fixedTimeStep=1. / 240.)
p.setPhysicsEngineParameter(numSubSteps=1)
p.loadURDF("plane.urdf")
objects = p.loadMJCF("mjcf/humanoid_symmetric.xml")
ob = objects[0]
p.resetBasePositionAndOrientation(ob,[0.789351,0.962124,0.113124],[0.710965,0.218117,0.519402,-0.420923])
jointPositions=[ -0.200226, 0.123925, 0.000000, -0.224016, 0.000000, -0.022247, 0.099119, -0.041829, 0.000000, -0.344372, 0.000000, 0.000000, 0.090687, -0.578698, 0.044461, 0.000000, -0.185004, 0.000000, 0.000000, 0.039517, -0.131217, 0.000000, 0.083382, 0.000000, -0.165303, -0.140802, 0.000000, -0.007374, 0.000000 ]
for jointIndex in range (p.getNumJoints(ob)):
p.resetJointState(ob,jointIndex,jointPositions[jointIndex])
p.resetBasePositionAndOrientation(ob, [0.789351, 0.962124, 0.113124],
[0.710965, 0.218117, 0.519402, -0.420923])
jointPositions = [
-0.200226, 0.123925, 0.000000, -0.224016, 0.000000, -0.022247, 0.099119, -0.041829, 0.000000,
-0.344372, 0.000000, 0.000000, 0.090687, -0.578698, 0.044461, 0.000000, -0.185004, 0.000000,
0.000000, 0.039517, -0.131217, 0.000000, 0.083382, 0.000000, -0.165303, -0.140802, 0.000000,
-0.007374, 0.000000
]
for jointIndex in range(p.getNumJoints(ob)):
p.resetJointState(ob, jointIndex, jointPositions[jointIndex])
#first let the humanoid fall
#p.setRealTimeSimulation(1)
@@ -26,11 +31,10 @@ p.setRealTimeSimulation(0)
print("Starting benchmark")
fileName = "pybullet_humanoid_timings.json"
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,fileName)
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, fileName)
for i in range(1000):
p.stepSimulation()
p.stepSimulation()
p.stopStateLogging(logId)
print("ended benchmark")
print("Use Chrome browser, visit about://tracing, and load the %s file" % fileName)