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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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72
examples/pybullet/examples/racecar.py
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@@ -1,9 +1,9 @@
import os, inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
print ("current_dir=" + currentdir)
parentdir = os.path.join(currentdir,"../gym")
print("current_dir=" + currentdir)
parentdir = os.path.join(currentdir, "../gym")
os.sys.path.insert(0,parentdir)
os.sys.path.insert(0, parentdir)
import pybullet as p
import pybullet_data
@@ -11,48 +11,52 @@ import pybullet_data
import time
cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
p.connect(p.GUI)
if (cid < 0):
p.connect(p.GUI)
p.resetSimulation()
p.setGravity(0,0,-10)
p.setGravity(0, 0, -10)
useRealTimeSim = 1
#for video recording (works best on Mac and Linux, not well on Windows)
#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
p.setRealTimeSimulation(useRealTimeSim) # either this
p.setRealTimeSimulation(useRealTimeSim) # either this
#p.loadURDF("plane.urdf")
p.loadSDF(os.path.join(pybullet_data.getDataPath(),"stadium.sdf"))
p.loadSDF(os.path.join(pybullet_data.getDataPath(), "stadium.sdf"))
car = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"racecar/racecar.urdf"))
for i in range (p.getNumJoints(car)):
print (p.getJointInfo(car,i))
car = p.loadURDF(os.path.join(pybullet_data.getDataPath(), "racecar/racecar.urdf"))
for i in range(p.getNumJoints(car)):
print(p.getJointInfo(car, i))
inactive_wheels = [3,5,7]
inactive_wheels = [3, 5, 7]
wheels = [2]
for wheel in inactive_wheels:
p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
steering = [4,6]
p.setJointMotorControl2(car, wheel, p.VELOCITY_CONTROL, targetVelocity=0, force=0)
targetVelocitySlider = p.addUserDebugParameter("wheelVelocity",-10,10,0)
maxForceSlider = p.addUserDebugParameter("maxForce",0,10,10)
steeringSlider = p.addUserDebugParameter("steering",-0.5,0.5,0)
steering = [4, 6]
targetVelocitySlider = p.addUserDebugParameter("wheelVelocity", -10, 10, 0)
maxForceSlider = p.addUserDebugParameter("maxForce", 0, 10, 10)
steeringSlider = p.addUserDebugParameter("steering", -0.5, 0.5, 0)
while (True):
maxForce = p.readUserDebugParameter(maxForceSlider)
targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
steeringAngle = p.readUserDebugParameter(steeringSlider)
#print(targetVelocity)
for wheel in wheels:
p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=maxForce)
for steer in steering:
p.setJointMotorControl2(car,steer,p.POSITION_CONTROL,targetPosition=steeringAngle)
steering
if (useRealTimeSim==0):
p.stepSimulation()
time.sleep(0.01)
maxForce = p.readUserDebugParameter(maxForceSlider)
targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
steeringAngle = p.readUserDebugParameter(steeringSlider)
#print(targetVelocity)
for wheel in wheels:
p.setJointMotorControl2(car,
wheel,
p.VELOCITY_CONTROL,
targetVelocity=targetVelocity,
force=maxForce)
for steer in steering:
p.setJointMotorControl2(car, steer, p.POSITION_CONTROL, targetPosition=steeringAngle)
steering
if (useRealTimeSim == 0):
p.stepSimulation()
time.sleep(0.01)