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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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35
examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py
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@@ -2,10 +2,10 @@
Classic cart-pole system implemented by Rich Sutton et al.
Copied from https://webdocs.cs.ualberta.ca/~sutton/book/code/pole.c
"""
import os, inspect
import os, inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0,parentdir)
os.sys.path.insert(0, parentdir)
import logging
import math
@@ -21,26 +21,24 @@ from pkg_resources import parse_version
logger = logging.getLogger(__name__)
class CartPoleBulletEnv(gym.Env):
metadata = {
'render.modes': ['human', 'rgb_array'],
'video.frames_per_second' : 50
}
metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 50}
def __init__(self, renders=True):
# start the bullet physics server
self._renders = renders
if (renders):
p.connect(p.GUI)
p.connect(p.GUI)
else:
p.connect(p.DIRECT)
p.connect(p.DIRECT)
self.theta_threshold_radians = 12 * 2 * math.pi / 360
self.x_threshold = 0.4 #2.4
self.x_threshold = 0.4 #2.4
high = np.array([
self.x_threshold * 2,
np.finfo(np.float32).max,
self.theta_threshold_radians * 2,
np.finfo(np.float32).max])
self.x_threshold * 2,
np.finfo(np.float32).max, self.theta_threshold_radians * 2,
np.finfo(np.float32).max
])
self.force_mag = 10
@@ -60,7 +58,7 @@ class CartPoleBulletEnv(gym.Env):
return [seed]
def step(self, action):
force = self.force_mag if action==1 else -self.force_mag
force = self.force_mag if action == 1 else -self.force_mag
p.setJointMotorControl2(self.cartpole, 0, p.TORQUE_CONTROL, force=force)
p.stepSimulation()
@@ -78,16 +76,17 @@ class CartPoleBulletEnv(gym.Env):
return np.array(self.state), reward, done, {}
def reset(self):
# print("-----------reset simulation---------------")
# print("-----------reset simulation---------------")
p.resetSimulation()
self.cartpole = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"cartpole.urdf"),[0,0,0])
self.cartpole = p.loadURDF(os.path.join(pybullet_data.getDataPath(), "cartpole.urdf"),
[0, 0, 0])
p.changeDynamics(self.cartpole, -1, linearDamping=0, angularDamping=0)
p.changeDynamics(self.cartpole, 0, linearDamping=0, angularDamping=0)
p.changeDynamics(self.cartpole, 1, linearDamping=0, angularDamping=0)
self.timeStep = 0.02
p.setJointMotorControl2(self.cartpole, 1, p.VELOCITY_CONTROL, force=0)
p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, force=0)
p.setGravity(0,0, -9.8)
p.setGravity(0, 0, -9.8)
p.setTimeStep(self.timeStep)
p.setRealTimeSimulation(0)
@@ -100,4 +99,4 @@ class CartPoleBulletEnv(gym.Env):
return np.array(self.state)
def render(self, mode='human', close=False):
return
return