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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/gym/pybullet_envs/bullet/motor.py
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@@ -7,8 +7,7 @@ MOTOR_VOLTAGE = 16.0
MOTOR_RESISTANCE = 0.186
MOTOR_TORQUE_CONSTANT = 0.0954
MOTOR_VISCOUS_DAMPING = 0
MOTOR_SPEED_LIMIT = MOTOR_VOLTAGE / (MOTOR_VISCOUS_DAMPING
+ MOTOR_TORQUE_CONSTANT)
MOTOR_SPEED_LIMIT = MOTOR_VOLTAGE / (MOTOR_VISCOUS_DAMPING + MOTOR_TORQUE_CONSTANT)
class MotorModel(object):
@@ -24,10 +23,7 @@ class MotorModel(object):
pd gains, viscous friction, back-EMF voltage and current-torque profile.
"""
def __init__(self,
torque_control_enabled=False,
kp=1.2,
kd=0):
def __init__(self, torque_control_enabled=False, kp=1.2, kd=0):
self._torque_control_enabled = torque_control_enabled
self._kp = kp
self._kd = kd
@@ -50,8 +46,7 @@ class MotorModel(object):
def get_viscous_dampling(self):
return self._viscous_damping
def convert_to_torque(self, motor_commands, current_motor_angle,
current_motor_velocity):
def convert_to_torque(self, motor_commands, current_motor_angle, current_motor_velocity):
"""Convert the commands (position control or torque control) to torque.
Args:
@@ -66,8 +61,8 @@ class MotorModel(object):
if self._torque_control_enabled:
pwm = motor_commands
else:
pwm = (-self._kp * (current_motor_angle - motor_commands)
- self._kd * current_motor_velocity)
pwm = (-self._kp * (current_motor_angle - motor_commands) -
self._kd * current_motor_velocity)
pwm = np.clip(pwm, -1.0, 1.0)
return self._convert_to_torque_from_pwm(pwm, current_motor_velocity)
@@ -81,21 +76,19 @@ class MotorModel(object):
actual_torque: The torque that needs to be applied to the motor.
observed_torque: The torque observed by the sensor.
"""
observed_torque = np.clip(
self._torque_constant * (pwm * self._voltage / self._resistance),
-OBSERVED_TORQUE_LIMIT, OBSERVED_TORQUE_LIMIT)
observed_torque = np.clip(self._torque_constant * (pwm * self._voltage / self._resistance),
-OBSERVED_TORQUE_LIMIT, OBSERVED_TORQUE_LIMIT)
# Net voltage is clipped at 50V by diodes on the motor controller.
voltage_net = np.clip(pwm * self._voltage -
(self._torque_constant + self._viscous_damping)
* current_motor_velocity,
-VOLTAGE_CLIPPING, VOLTAGE_CLIPPING)
voltage_net = np.clip(
pwm * self._voltage -
(self._torque_constant + self._viscous_damping) * current_motor_velocity,
-VOLTAGE_CLIPPING, VOLTAGE_CLIPPING)
current = voltage_net / self._resistance
current_sign = np.sign(current)
current_magnitude = np.absolute(current)
# Saturate torque based on empirical current relation.
actual_torque = np.interp(current_magnitude, self._current_table,
self._torque_table)
actual_torque = np.interp(current_magnitude, self._current_table, self._torque_table)
actual_torque = np.multiply(current_sign, actual_torque)
return actual_torque, observed_torque