Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add yapf style and apply yapf to format all Python files

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

51
examples/pybullet/examples/humanoid_knee_position_control.py
View File

@@ -2,8 +2,8 @@ import pybullet as p
import time
cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
cid = p.connect(p.GUI)
if (cid < 0):
cid = p.connect(p.GUI)
p.resetSimulation()
@@ -11,36 +11,41 @@ useRealTime = 0
p.setRealTimeSimulation(useRealTime)
p.setGravity(0,0,-10)
p.setGravity(0, 0, -10)
p.loadSDF("stadium.sdf")
obUids = p.loadMJCF("mjcf/humanoid_fixed.xml")
human = obUids[0]
for i in range(p.getNumJoints(human)):
p.setJointMotorControl2(human, i, p.POSITION_CONTROL, targetPosition=0, force=500)
kneeAngleTargetId = p.addUserDebugParameter("kneeAngle", -4, 4, -1)
maxForceId = p.addUserDebugParameter("maxForce", 0, 500, 10)
for i in range (p.getNumJoints(human)):
p.setJointMotorControl2(human,i,p.POSITION_CONTROL,targetPosition=0,force=500)
kneeAngleTargetLeftId = p.addUserDebugParameter("kneeAngleL", -4, 4, -1)
maxForceLeftId = p.addUserDebugParameter("maxForceL", 0, 500, 10)
kneeAngleTargetId = p.addUserDebugParameter("kneeAngle",-4,4,-1)
maxForceId = p.addUserDebugParameter("maxForce",0,500,10)
kneeAngleTargetLeftId = p.addUserDebugParameter("kneeAngleL",-4,4,-1)
maxForceLeftId = p.addUserDebugParameter("maxForceL",0,500,10)
kneeJointIndex=11
kneeJointIndexLeft=18
kneeJointIndex = 11
kneeJointIndexLeft = 18
while (1):
time.sleep(0.01)
kneeAngleTarget = p.readUserDebugParameter(kneeAngleTargetId)
maxForce = p.readUserDebugParameter(maxForceId)
p.setJointMotorControl2(human,kneeJointIndex,p.POSITION_CONTROL,targetPosition=kneeAngleTarget,force=maxForce)
kneeAngleTargetLeft = p.readUserDebugParameter(kneeAngleTargetLeftId)
maxForceLeft = p.readUserDebugParameter(maxForceLeftId)
p.setJointMotorControl2(human,kneeJointIndexLeft,p.POSITION_CONTROL,targetPosition=kneeAngleTargetLeft,force=maxForceLeft)
time.sleep(0.01)
kneeAngleTarget = p.readUserDebugParameter(kneeAngleTargetId)
maxForce = p.readUserDebugParameter(maxForceId)
p.setJointMotorControl2(human,
kneeJointIndex,
p.POSITION_CONTROL,
targetPosition=kneeAngleTarget,
force=maxForce)
kneeAngleTargetLeft = p.readUserDebugParameter(kneeAngleTargetLeftId)
maxForceLeft = p.readUserDebugParameter(maxForceLeftId)
p.setJointMotorControl2(human,
kneeJointIndexLeft,
p.POSITION_CONTROL,
targetPosition=kneeAngleTargetLeft,
force=maxForceLeft)
if (useRealTime==0):
p.stepSimulation()
if (useRealTime == 0):
p.stepSimulation()