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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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32
examples/pybullet/examples/jointFrictionAndMotor.py
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@@ -2,25 +2,23 @@ import pybullet as p
import time
p.connect(p.GUI)
door=p.loadURDF("door.urdf")
door = p.loadURDF("door.urdf")
#linear/angular damping for base and all children=0
p.changeDynamics(door,-1,linearDamping=0, angularDamping=0)
for j in range (p.getNumJoints(door)):
p.changeDynamics(door,j,linearDamping=0, angularDamping=0)
print(p.getJointInfo(door,j))
p.changeDynamics(door, -1, linearDamping=0, angularDamping=0)
for j in range(p.getNumJoints(door)):
p.changeDynamics(door, j, linearDamping=0, angularDamping=0)
print(p.getJointInfo(door, j))
frictionId = p.addUserDebugParameter("jointFriction",0,20,10)
torqueId = p.addUserDebugParameter("joint torque",0,20,5)
frictionId = p.addUserDebugParameter("jointFriction", 0, 20, 10)
torqueId = p.addUserDebugParameter("joint torque", 0, 20, 5)
while (1):
frictionForce = p.readUserDebugParameter(frictionId)
jointTorque = p.readUserDebugParameter(torqueId)
#set the joint friction
p.setJointMotorControl2(door,1,p.VELOCITY_CONTROL,targetVelocity=0,force=frictionForce)
#apply a joint torque
p.setJointMotorControl2(door,1,p.TORQUE_CONTROL,force=jointTorque)
p.stepSimulation()
time.sleep(0.01)
frictionForce = p.readUserDebugParameter(frictionId)
jointTorque = p.readUserDebugParameter(torqueId)
#set the joint friction
p.setJointMotorControl2(door, 1, p.VELOCITY_CONTROL, targetVelocity=0, force=frictionForce)
#apply a joint torque
p.setJointMotorControl2(door, 1, p.TORQUE_CONTROL, force=jointTorque)
p.stepSimulation()
time.sleep(0.01)