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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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41
examples/pybullet/examples/jointFrictionDamping.py
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@@ -2,27 +2,34 @@ import pybullet as p
import time
p.connect(p.GUI)
p.loadURDF("plane.urdf",[0,0,-0.25])
minitaur = p.loadURDF("quadruped/minitaur_single_motor.urdf",useFixedBase=True)
p.loadURDF("plane.urdf", [0, 0, -0.25])
minitaur = p.loadURDF("quadruped/minitaur_single_motor.urdf", useFixedBase=True)
print(p.getNumJoints(minitaur))
p.resetDebugVisualizerCamera(cameraDistance=1, cameraYaw=23.2, cameraPitch=-6.6,cameraTargetPosition=[-0.064,.621,-0.2])
p.resetDebugVisualizerCamera(cameraDistance=1,
cameraYaw=23.2,
cameraPitch=-6.6,
cameraTargetPosition=[-0.064, .621, -0.2])
motorJointId = 1
p.setJointMotorControl2(minitaur,motorJointId,p.VELOCITY_CONTROL,targetVelocity=100000,force=0)
p.setJointMotorControl2(minitaur, motorJointId, p.VELOCITY_CONTROL, targetVelocity=100000, force=0)
p.resetJointState(minitaur,motorJointId,targetValue=0, targetVelocity=1)
angularDampingSlider = p.addUserDebugParameter("angularDamping", 0,1,0)
jointFrictionForceSlider = p.addUserDebugParameter("jointFrictionForce", 0,0.1,0)
p.resetJointState(minitaur, motorJointId, targetValue=0, targetVelocity=1)
angularDampingSlider = p.addUserDebugParameter("angularDamping", 0, 1, 0)
jointFrictionForceSlider = p.addUserDebugParameter("jointFrictionForce", 0, 0.1, 0)
textId = p.addUserDebugText("jointVelocity=0",[0,0,-0.2])
textId = p.addUserDebugText("jointVelocity=0", [0, 0, -0.2])
p.setRealTimeSimulation(1)
while (1):
frictionForce = p.readUserDebugParameter(jointFrictionForceSlider)
angularDamping = p.readUserDebugParameter(angularDampingSlider)
p.setJointMotorControl2(minitaur,motorJointId,p.VELOCITY_CONTROL,targetVelocity=0,force=frictionForce)
p.changeDynamics(minitaur,motorJointId,linearDamping=0, angularDamping=angularDamping)
frictionForce = p.readUserDebugParameter(jointFrictionForceSlider)
angularDamping = p.readUserDebugParameter(angularDampingSlider)
p.setJointMotorControl2(minitaur,
motorJointId,
p.VELOCITY_CONTROL,
targetVelocity=0,
force=frictionForce)
p.changeDynamics(minitaur, motorJointId, linearDamping=0, angularDamping=angularDamping)
time.sleep(0.01)
txt = "jointVelocity="+str(p.getJointState(minitaur,motorJointId)[1])
prevTextId = textId
textId = p.addUserDebugText(txt,[0,0,-0.2])
p.removeUserDebugItem(prevTextId)
time.sleep(0.01)
txt = "jointVelocity=" + str(p.getJointState(minitaur, motorJointId)[1])
prevTextId = textId
textId = p.addUserDebugText(txt, [0, 0, -0.2])
p.removeUserDebugItem(prevTextId)