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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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188
examples/pybullet/gym/pybullet_envs/bullet/racecar.py
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@@ -4,80 +4,150 @@ import math
import numpy as np
class Racecar:
def __init__(self, bullet_client, urdfRootPath='', timeStep=0.01):
self.urdfRootPath = urdfRootPath
self.timeStep = timeStep
self._p = bullet_client
self.reset()
def __init__(self, bullet_client, urdfRootPath='', timeStep=0.01):
self.urdfRootPath = urdfRootPath
self.timeStep = timeStep
self._p = bullet_client
self.reset()
def reset(self):
car = self._p.loadURDF(os.path.join(self.urdfRootPath,"racecar/racecar_differential.urdf"), [0,0,.2],useFixedBase=False)
self.racecarUniqueId = car
#for i in range (self._p.getNumJoints(car)):
# print (self._p.getJointInfo(car,i))
for wheel in range(self._p.getNumJoints(car)):
self._p.setJointMotorControl2(car,wheel,self._p.VELOCITY_CONTROL,targetVelocity=0,force=0)
self._p.getJointInfo(car,wheel)
def reset(self):
car = self._p.loadURDF(os.path.join(self.urdfRootPath, "racecar/racecar_differential.urdf"),
[0, 0, .2],
useFixedBase=False)
self.racecarUniqueId = car
#for i in range (self._p.getNumJoints(car)):
# print (self._p.getJointInfo(car,i))
for wheel in range(self._p.getNumJoints(car)):
self._p.setJointMotorControl2(car,
wheel,
self._p.VELOCITY_CONTROL,
targetVelocity=0,
force=0)
self._p.getJointInfo(car, wheel)
#self._p.setJointMotorControl2(car,10,self._p.VELOCITY_CONTROL,targetVelocity=1,force=10)
c = self._p.createConstraint(car,9,car,11,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
self._p.changeConstraint(c,gearRatio=1, maxForce=10000)
#self._p.setJointMotorControl2(car,10,self._p.VELOCITY_CONTROL,targetVelocity=1,force=10)
c = self._p.createConstraint(car,
9,
car,
11,
jointType=self._p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
self._p.changeConstraint(c, gearRatio=1, maxForce=10000)
c = self._p.createConstraint(car,10,car,13,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
self._p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = self._p.createConstraint(car,
10,
car,
13,
jointType=self._p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
self._p.changeConstraint(c, gearRatio=-1, maxForce=10000)
c = self._p.createConstraint(car,9,car,13,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
self._p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = self._p.createConstraint(car,
9,
car,
13,
jointType=self._p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
self._p.changeConstraint(c, gearRatio=-1, maxForce=10000)
c = self._p.createConstraint(car,16,car,18,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
self._p.changeConstraint(c,gearRatio=1, maxForce=10000)
c = self._p.createConstraint(car,
16,
car,
18,
jointType=self._p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
self._p.changeConstraint(c, gearRatio=1, maxForce=10000)
c = self._p.createConstraint(car,16,car,19,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
self._p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = self._p.createConstraint(car,
16,
car,
19,
jointType=self._p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
self._p.changeConstraint(c, gearRatio=-1, maxForce=10000)
c = self._p.createConstraint(car,17,car,19,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
self._p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = self._p.createConstraint(car,
17,
car,
19,
jointType=self._p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
self._p.changeConstraint(c, gearRatio=-1, maxForce=10000)
c = self._p.createConstraint(car,1,car,18,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
self._p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15, maxForce=10000)
c = self._p.createConstraint(car,3,car,19,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
self._p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15,maxForce=10000)
c = self._p.createConstraint(car,
1,
car,
18,
jointType=self._p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
self._p.changeConstraint(c, gearRatio=-1, gearAuxLink=15, maxForce=10000)
c = self._p.createConstraint(car,
3,
car,
19,
jointType=self._p.JOINT_GEAR,
jointAxis=[0, 1, 0],
parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0, 0])
self._p.changeConstraint(c, gearRatio=-1, gearAuxLink=15, maxForce=10000)
self.steeringLinks = [0,2]
self.maxForce = 20
self.nMotors = 2
self.motorizedwheels=[8,15]
self.speedMultiplier = 20.
self.steeringMultiplier = 0.5
self.steeringLinks = [0, 2]
self.maxForce = 20
self.nMotors = 2
self.motorizedwheels = [8, 15]
self.speedMultiplier = 20.
self.steeringMultiplier = 0.5
def getActionDimension(self):
return self.nMotors
def getActionDimension(self):
return self.nMotors
def getObservationDimension(self):
return len(self.getObservation())
def getObservationDimension(self):
return len(self.getObservation())
def getObservation(self):
observation = []
pos,orn=self._p.getBasePositionAndOrientation(self.racecarUniqueId)
def getObservation(self):
observation = []
pos, orn = self._p.getBasePositionAndOrientation(self.racecarUniqueId)
observation.extend(list(pos))
observation.extend(list(orn))
observation.extend(list(pos))
observation.extend(list(orn))
return observation
return observation
def applyAction(self, motorCommands):
targetVelocity=motorCommands[0]*self.speedMultiplier
#print("targetVelocity")
#print(targetVelocity)
steeringAngle = motorCommands[1]*self.steeringMultiplier
#print("steeringAngle")
#print(steeringAngle)
#print("maxForce")
#print(self.maxForce)
def applyAction(self, motorCommands):
targetVelocity = motorCommands[0] * self.speedMultiplier
#print("targetVelocity")
#print(targetVelocity)
steeringAngle = motorCommands[1] * self.steeringMultiplier
#print("steeringAngle")
#print(steeringAngle)
#print("maxForce")
#print(self.maxForce)
for motor in self.motorizedwheels:
self._p.setJointMotorControl2(self.racecarUniqueId,motor,self._p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=self.maxForce)
for steer in self.steeringLinks:
self._p.setJointMotorControl2(self.racecarUniqueId,steer,self._p.POSITION_CONTROL,targetPosition=steeringAngle)
for motor in self.motorizedwheels:
self._p.setJointMotorControl2(self.racecarUniqueId,
motor,
self._p.VELOCITY_CONTROL,
targetVelocity=targetVelocity,
force=self.maxForce)
for steer in self.steeringLinks:
self._p.setJointMotorControl2(self.racecarUniqueId,
steer,
self._p.POSITION_CONTROL,
targetPosition=steeringAngle)