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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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31
examples/pybullet/examples/minitaur_evaluate.py
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@@ -15,6 +15,7 @@ def current_position():
position = minitaur.getBasePosition()
return np.asarray(position)
def is_fallen():
global minitaur
orientation = minitaur.getBaseOrientation()
@@ -22,13 +23,16 @@ def is_fallen():
localUp = rotMat[6:]
return np.dot(np.asarray([0, 0, 1]), np.asarray(localUp)) < 0
def evaluate_desired_motorAngle_8Amplitude8Phase(i, params):
nMotors = 8
speed = 0.35
for jthMotor in range(nMotors):
joint_values[jthMotor] = math.sin(i*speed + params[nMotors + jthMotor])*params[jthMotor]*+1.57
joint_values[jthMotor] = math.sin(i * speed +
params[nMotors + jthMotor]) * params[jthMotor] * +1.57
return joint_values
def evaluate_desired_motorAngle_2Amplitude4Phase(i, params):
speed = 0.35
phaseDiff = params[2]
@@ -43,29 +47,37 @@ def evaluate_desired_motorAngle_2Amplitude4Phase(i, params):
joint_values = [a0, a1, a2, a3, a4, a5, a6, a7]
return joint_values
def evaluate_desired_motorAngle_hop(i, params):
amplitude = params[0]
speed = params[1]
a1 = math.sin(i*speed)*amplitude+1.57
a2 = math.sin(i*speed+3.14)*amplitude+1.57
a1 = math.sin(i * speed) * amplitude + 1.57
a2 = math.sin(i * speed + 3.14) * amplitude + 1.57
joint_values = [a1, 1.57, a2, 1.57, 1.57, a1, 1.57, a2]
return joint_values
evaluate_func_map['evaluate_desired_motorAngle_8Amplitude8Phase'] = evaluate_desired_motorAngle_8Amplitude8Phase
evaluate_func_map['evaluate_desired_motorAngle_2Amplitude4Phase'] = evaluate_desired_motorAngle_2Amplitude4Phase
evaluate_func_map[
'evaluate_desired_motorAngle_8Amplitude8Phase'] = evaluate_desired_motorAngle_8Amplitude8Phase
evaluate_func_map[
'evaluate_desired_motorAngle_2Amplitude4Phase'] = evaluate_desired_motorAngle_2Amplitude4Phase
evaluate_func_map['evaluate_desired_motorAngle_hop'] = evaluate_desired_motorAngle_hop
def evaluate_params(evaluateFunc, params, objectiveParams, urdfRoot='', timeStep=0.01, maxNumSteps=10000, sleepTime=0):
def evaluate_params(evaluateFunc,
params,
objectiveParams,
urdfRoot='',
timeStep=0.01,
maxNumSteps=10000,
sleepTime=0):
print('start evaluation')
beforeTime = time.time()
p.resetSimulation()
p.setTimeStep(timeStep)
p.loadURDF("%s/plane.urdf" % urdfRoot)
p.setGravity(0,0,-10)
p.setGravity(0, 0, -10)
global minitaur
minitaur = Minitaur(urdfRoot)
@@ -95,5 +107,6 @@ def evaluate_params(evaluateFunc, params, objectiveParams, urdfRoot='', timeStep
final_distance = np.linalg.norm(start_position - current_position())
finalReturn = final_distance - alpha * total_energy
elapsedTime = time.time() - beforeTime
print ("trial for ", params, " final_distance", final_distance, "total_energy", total_energy, "finalReturn", finalReturn, "elapsed_time", elapsedTime)
print("trial for ", params, " final_distance", final_distance, "total_energy", total_energy,
"finalReturn", finalReturn, "elapsed_time", elapsedTime)
return finalReturn