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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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97
examples/pybullet/examples/otherPhysicsEngine.py
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@@ -6,43 +6,47 @@ import math
usePhysX = True
useMaximalCoordinates = True
if usePhysX:
p.connect(p.PhysX,options="--numCores=8 --solver=pgs")
p.connect(p.PhysX, options="--numCores=8 --solver=pgs")
p.loadPlugin("eglRendererPlugin")
else:
p.connect(p.GUI)
p.setPhysicsEngineParameter(fixedTimeStep=1./240.,numSolverIterations=4, minimumSolverIslandSize=1024)
p.setPhysicsEngineParameter(fixedTimeStep=1. / 240.,
numSolverIterations=4,
minimumSolverIslandSize=1024)
p.setPhysicsEngineParameter(contactBreakingThreshold=0.01)
p.setAdditionalSearchPath(pd.getDataPath())
#Always make ground plane maximal coordinates, to avoid performance drop in PhysX
#See https://github.com/NVIDIAGameWorks/PhysX/issues/71
p.loadURDF("plane.urdf", useMaximalCoordinates=True)#useMaximalCoordinates)
p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"physx_create_dominoes.json")
p.loadURDF("plane.urdf", useMaximalCoordinates=True) #useMaximalCoordinates)
p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER, 0)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "physx_create_dominoes.json")
jran = 50
iran = 100
num=64
radius=0.1
numDominoes=0
num = 64
radius = 0.1
numDominoes = 0
for i in range (int(num*50)):
num=(radius*2*math.pi)/0.08
radius += 0.05/float(num)
orn = p.getQuaternionFromEuler([0,0,0.5*math.pi+math.pi*2*i/float(num)])
pos = [radius*math.cos(2*math.pi*(i/float(num))),radius*math.sin(2*math.pi*(i/float(num))), 0.03]
sphere = p.loadURDF("domino/domino.urdf",pos, orn, useMaximalCoordinates=useMaximalCoordinates)
numDominoes+=1
pos=[pos[0],pos[1],pos[2]+0.3]
orn = p.getQuaternionFromEuler([0,0,-math.pi/4.])
sphere = p.loadURDF("domino/domino.urdf",pos, orn, useMaximalCoordinates=useMaximalCoordinates)
for i in range(int(num * 50)):
num = (radius * 2 * math.pi) / 0.08
radius += 0.05 / float(num)
orn = p.getQuaternionFromEuler([0, 0, 0.5 * math.pi + math.pi * 2 * i / float(num)])
pos = [
radius * math.cos(2 * math.pi * (i / float(num))),
radius * math.sin(2 * math.pi * (i / float(num))), 0.03
]
sphere = p.loadURDF("domino/domino.urdf", pos, orn, useMaximalCoordinates=useMaximalCoordinates)
numDominoes += 1
print("numDominoes=",numDominoes)
pos = [pos[0], pos[1], pos[2] + 0.3]
orn = p.getQuaternionFromEuler([0, 0, -math.pi / 4.])
sphere = p.loadURDF("domino/domino.urdf", pos, orn, useMaximalCoordinates=useMaximalCoordinates)
print("numDominoes=", numDominoes)
#for j in range (20):
# for i in range (100):
@@ -51,48 +55,51 @@ print("numDominoes=",numDominoes)
# else:
# orn = p.getQuaternionFromEuler([0,-3.14*0.24,0])
# sphere = p.loadURDF("domino/domino.urdf",[(i-1)*0.04,1+j*.25,0.03], orn, useMaximalCoordinates=useMaximalCoordinates)
print("loaded!")
print("loaded!")
#p.changeDynamics(sphere ,-1, mass=1000)
door = p.loadURDF("door.urdf",[0,0,-11])
p.changeDynamics(door ,1, linearDamping=0, angularDamping=0, jointDamping=0, mass=1)
door = p.loadURDF("door.urdf", [0, 0, -11])
p.changeDynamics(door, 1, linearDamping=0, angularDamping=0, jointDamping=0, mass=1)
print("numJoints = ", p.getNumJoints(door))
p.setGravity(0,0,-10)
p.setGravity(0, 0, -10)
position_control = True
angle = math.pi*0.25
p.resetJointState(door,1,angle)
angleread = p.getJointState(door,1)
print("angleread = ",angleread)
angle = math.pi * 0.25
p.resetJointState(door, 1, angle)
angleread = p.getJointState(door, 1)
print("angleread = ", angleread)
prevTime = time.time()
angle = math.pi*0.5
angle = math.pi * 0.5
count=0
count = 0
while (1):
count+=1
if (count==12):
p.stopStateLogging(logId)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
count += 1
if (count == 12):
p.stopStateLogging(logId)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
curTime = time.time()
diff = curTime - prevTime
#every second, swap target angle
if (diff>1):
angle = - angle
if (diff > 1):
angle = -angle
prevTime = curTime
if position_control:
p.setJointMotorControl2(door,1,p.POSITION_CONTROL, targetPosition = angle, positionGain=10.1, velocityGain=1, force=11.001)
else:
p.setJointMotorControl2(door,1,p.VELOCITY_CONTROL, targetVelocity=1, force=1011)
p.setJointMotorControl2(door,
1,
p.POSITION_CONTROL,
targetPosition=angle,
positionGain=10.1,
velocityGain=1,
force=11.001)
else:
p.setJointMotorControl2(door, 1, p.VELOCITY_CONTROL, targetVelocity=1, force=1011)
#contacts = p.getContactPoints()
#print("contacts=",contacts)
p.stepSimulation()