add yapf style and apply yapf to format all Python files
This recreates pull request #2192
This commit is contained in:
Erwin Coumans
@@ -1,7 +1,9 @@
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import pybullet as p
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import numpy as np
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class Minitaur:
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def __init__(self, urdfRootPath=''):
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self.urdfRootPath = urdfRootPath
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self.reset()
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@@ -26,9 +28,8 @@ class Minitaur:
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self.motorIdList.append(self.jointNameToId['motor_back_rightL_joint'])
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self.motorIdList.append(self.jointNameToId['motor_back_rightR_joint'])
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def reset(self):
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self.quadruped = p.loadURDF("%s/quadruped/minitaur.urdf" % self.urdfRootPath,0,0,.2)
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self.quadruped = p.loadURDF("%s/quadruped/minitaur.urdf" % self.urdfRootPath, 0, 0, .2)
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self.kp = 1
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self.kd = 0.1
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self.maxForce = 3.5
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@@ -38,10 +39,14 @@ class Minitaur:
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self.buildJointNameToIdDict()
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self.buildMotorIdList()
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def setMotorAngleById(self, motorId, desiredAngle):
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p.setJointMotorControl2(bodyIndex=self.quadruped, jointIndex=motorId, controlMode=p.POSITION_CONTROL, targetPosition=desiredAngle, positionGain=self.kp, velocityGain=self.kd, force=self.maxForce)
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p.setJointMotorControl2(bodyIndex=self.quadruped,
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jointIndex=motorId,
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controlMode=p.POSITION_CONTROL,
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targetPosition=desiredAngle,
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positionGain=self.kp,
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velocityGain=self.kd,
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force=self.maxForce)
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def setMotorAngleByName(self, motorName, desiredAngle):
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self.setMotorAngleById(self.jointNameToId[motorName], desiredAngle)
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@@ -49,53 +54,107 @@ class Minitaur:
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def resetPose(self):
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kneeFrictionForce = 0
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halfpi = 1.57079632679
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kneeangle = -2.1834 #halfpi - acos(upper_leg_length / lower_leg_length)
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kneeangle = -2.1834 #halfpi - acos(upper_leg_length / lower_leg_length)
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#left front leg
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftL_joint'],self.motorDir[0]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftL_link'],self.motorDir[0]*kneeangle)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftR_joint'],self.motorDir[1]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.motorDir[1]*kneeangle)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.quadruped,self.jointNameToId['knee_front_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
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self.setMotorAngleByName('motor_front_leftL_joint', self.motorDir[0]*halfpi)
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self.setMotorAngleByName('motor_front_leftR_joint', self.motorDir[1]*halfpi)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_leftL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_leftR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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p.resetJointState(self.quadruped, self.jointNameToId['motor_front_leftL_joint'],
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self.motorDir[0] * halfpi)
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p.resetJointState(self.quadruped, self.jointNameToId['knee_front_leftL_link'],
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self.motorDir[0] * kneeangle)
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p.resetJointState(self.quadruped, self.jointNameToId['motor_front_leftR_joint'],
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self.motorDir[1] * halfpi)
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p.resetJointState(self.quadruped, self.jointNameToId['knee_front_leftR_link'],
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self.motorDir[1] * kneeangle)
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p.createConstraint(self.quadruped, self.jointNameToId['knee_front_leftR_link'], self.quadruped,
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self.jointNameToId['knee_front_leftL_link'], p.JOINT_POINT2POINT, [0, 0, 0],
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[0, 0.005, 0.2], [0, 0.01, 0.2])
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self.setMotorAngleByName('motor_front_leftL_joint', self.motorDir[0] * halfpi)
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self.setMotorAngleByName('motor_front_leftR_joint', self.motorDir[1] * halfpi)
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p.setJointMotorControl2(bodyIndex=self.quadruped,
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jointIndex=self.jointNameToId['knee_front_leftL_link'],
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controlMode=p.VELOCITY_CONTROL,
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targetVelocity=0,
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force=kneeFrictionForce)
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p.setJointMotorControl2(bodyIndex=self.quadruped,
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jointIndex=self.jointNameToId['knee_front_leftR_link'],
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controlMode=p.VELOCITY_CONTROL,
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targetVelocity=0,
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force=kneeFrictionForce)
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#left back leg
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftL_joint'],self.motorDir[2]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftL_link'],self.motorDir[2]*kneeangle)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftR_joint'],self.motorDir[3]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.motorDir[3]*kneeangle)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.quadruped,self.jointNameToId['knee_back_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
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self.setMotorAngleByName('motor_back_leftL_joint',self.motorDir[2]*halfpi)
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self.setMotorAngleByName('motor_back_leftR_joint',self.motorDir[3]*halfpi)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_leftL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_leftR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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p.resetJointState(self.quadruped, self.jointNameToId['motor_back_leftL_joint'],
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self.motorDir[2] * halfpi)
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p.resetJointState(self.quadruped, self.jointNameToId['knee_back_leftL_link'],
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self.motorDir[2] * kneeangle)
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p.resetJointState(self.quadruped, self.jointNameToId['motor_back_leftR_joint'],
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self.motorDir[3] * halfpi)
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p.resetJointState(self.quadruped, self.jointNameToId['knee_back_leftR_link'],
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self.motorDir[3] * kneeangle)
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p.createConstraint(self.quadruped, self.jointNameToId['knee_back_leftR_link'], self.quadruped,
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self.jointNameToId['knee_back_leftL_link'], p.JOINT_POINT2POINT, [0, 0, 0],
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[0, 0.005, 0.2], [0, 0.01, 0.2])
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self.setMotorAngleByName('motor_back_leftL_joint', self.motorDir[2] * halfpi)
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self.setMotorAngleByName('motor_back_leftR_joint', self.motorDir[3] * halfpi)
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p.setJointMotorControl2(bodyIndex=self.quadruped,
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jointIndex=self.jointNameToId['knee_back_leftL_link'],
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controlMode=p.VELOCITY_CONTROL,
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targetVelocity=0,
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force=kneeFrictionForce)
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p.setJointMotorControl2(bodyIndex=self.quadruped,
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jointIndex=self.jointNameToId['knee_back_leftR_link'],
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controlMode=p.VELOCITY_CONTROL,
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targetVelocity=0,
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force=kneeFrictionForce)
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#right front leg
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightL_joint'],self.motorDir[4]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightL_link'],self.motorDir[4]*kneeangle)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightR_joint'],self.motorDir[5]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.motorDir[5]*kneeangle)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.quadruped,self.jointNameToId['knee_front_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
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self.setMotorAngleByName('motor_front_rightL_joint',self.motorDir[4]*halfpi)
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self.setMotorAngleByName('motor_front_rightR_joint',self.motorDir[5]*halfpi)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_rightL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_rightR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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p.resetJointState(self.quadruped, self.jointNameToId['motor_front_rightL_joint'],
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self.motorDir[4] * halfpi)
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p.resetJointState(self.quadruped, self.jointNameToId['knee_front_rightL_link'],
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self.motorDir[4] * kneeangle)
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p.resetJointState(self.quadruped, self.jointNameToId['motor_front_rightR_joint'],
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self.motorDir[5] * halfpi)
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p.resetJointState(self.quadruped, self.jointNameToId['knee_front_rightR_link'],
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self.motorDir[5] * kneeangle)
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p.createConstraint(self.quadruped, self.jointNameToId['knee_front_rightR_link'],
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self.quadruped, self.jointNameToId['knee_front_rightL_link'],
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p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.2], [0, 0.01, 0.2])
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self.setMotorAngleByName('motor_front_rightL_joint', self.motorDir[4] * halfpi)
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self.setMotorAngleByName('motor_front_rightR_joint', self.motorDir[5] * halfpi)
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p.setJointMotorControl2(bodyIndex=self.quadruped,
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jointIndex=self.jointNameToId['knee_front_rightL_link'],
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controlMode=p.VELOCITY_CONTROL,
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targetVelocity=0,
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force=kneeFrictionForce)
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p.setJointMotorControl2(bodyIndex=self.quadruped,
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jointIndex=self.jointNameToId['knee_front_rightR_link'],
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controlMode=p.VELOCITY_CONTROL,
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targetVelocity=0,
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force=kneeFrictionForce)
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#right back leg
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightL_joint'],self.motorDir[6]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightL_link'],self.motorDir[6]*kneeangle)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightR_joint'],self.motorDir[7]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.motorDir[7]*kneeangle)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.quadruped,self.jointNameToId['knee_back_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
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self.setMotorAngleByName('motor_back_rightL_joint',self.motorDir[6]*halfpi)
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self.setMotorAngleByName('motor_back_rightR_joint',self.motorDir[7]*halfpi)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_rightL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_rightR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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p.resetJointState(self.quadruped, self.jointNameToId['motor_back_rightL_joint'],
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self.motorDir[6] * halfpi)
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p.resetJointState(self.quadruped, self.jointNameToId['knee_back_rightL_link'],
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self.motorDir[6] * kneeangle)
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p.resetJointState(self.quadruped, self.jointNameToId['motor_back_rightR_joint'],
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self.motorDir[7] * halfpi)
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p.resetJointState(self.quadruped, self.jointNameToId['knee_back_rightR_link'],
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self.motorDir[7] * kneeangle)
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p.createConstraint(self.quadruped, self.jointNameToId['knee_back_rightR_link'], self.quadruped,
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self.jointNameToId['knee_back_rightL_link'], p.JOINT_POINT2POINT, [0, 0, 0],
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[0, 0.005, 0.2], [0, 0.01, 0.2])
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self.setMotorAngleByName('motor_back_rightL_joint', self.motorDir[6] * halfpi)
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self.setMotorAngleByName('motor_back_rightR_joint', self.motorDir[7] * halfpi)
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p.setJointMotorControl2(bodyIndex=self.quadruped,
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jointIndex=self.jointNameToId['knee_back_rightL_link'],
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controlMode=p.VELOCITY_CONTROL,
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targetVelocity=0,
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force=kneeFrictionForce)
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p.setJointMotorControl2(bodyIndex=self.quadruped,
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jointIndex=self.jointNameToId['knee_back_rightR_link'],
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controlMode=p.VELOCITY_CONTROL,
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targetVelocity=0,
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force=kneeFrictionForce)
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def getBasePosition(self):
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position, orientation = p.getBasePositionAndOrientation(self.quadruped)
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