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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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68
examples/pybullet/gym/pybullet_envs/deep_mimic/env/testHumanoid.py vendored
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@@ -8,87 +8,89 @@ import pybullet as p1
import humanoid_pose_interpolator
import numpy as np
pybullet_client = bullet_client.BulletClient(connection_mode=p1.GUI)
pybullet_client = bullet_client.BulletClient(connection_mode=p1.GUI)
pybullet_client.setAdditionalSearchPath(pybullet_data.getDataPath())
z2y = pybullet_client.getQuaternionFromEuler([-math.pi*0.5,0,0])
z2y = pybullet_client.getQuaternionFromEuler([-math.pi * 0.5, 0, 0])
#planeId = pybullet_client.loadURDF("plane.urdf",[0,0,0],z2y)
planeId= pybullet_client.loadURDF("plane_implicit.urdf",[0,0,0],z2y, useMaximalCoordinates=True)
pybullet_client.changeDynamics(planeId, linkIndex=-1, lateralFriction=0.9)
planeId = pybullet_client.loadURDF("plane_implicit.urdf", [0, 0, 0],
z2y,
useMaximalCoordinates=True)
pybullet_client.changeDynamics(planeId, linkIndex=-1, lateralFriction=0.9)
#print("planeId=",planeId)
pybullet_client.configureDebugVisualizer(pybullet_client.COV_ENABLE_Y_AXIS_UP,1)
pybullet_client.setGravity(0,-9.8,0)
pybullet_client.configureDebugVisualizer(pybullet_client.COV_ENABLE_Y_AXIS_UP, 1)
pybullet_client.setGravity(0, -9.8, 0)
pybullet_client.setPhysicsEngineParameter(numSolverIterations=10)
mocapData = motion_capture_data.MotionCaptureData()
#motionPath = pybullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt"
motionPath = pybullet_data.getDataPath()+"/data/motions/humanoid3d_backflip.txt"
motionPath = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
mocapData.Load(motionPath)
timeStep = 1./600
useFixedBase=False
timeStep = 1. / 600
useFixedBase = False
humanoid = humanoid_stable_pd.HumanoidStablePD(pybullet_client, mocapData, timeStep, useFixedBase)
isInitialized = True
pybullet_client.setTimeStep(timeStep)
pybullet_client.setPhysicsEngineParameter(numSubSteps=2)
timeId = pybullet_client.addUserDebugParameter("time",0,10,0)
timeId = pybullet_client.addUserDebugParameter("time", 0, 10, 0)
def isKeyTriggered(keys, key):
o = ord(key)
if o in keys:
return keys[ord(key)] & pybullet_client.KEY_WAS_TRIGGERED
return False
animating = False
singleStep = False
t=0
t = 0
while (1):
keys = pybullet_client.getKeyboardEvents()
#print(keys)
if isKeyTriggered(keys, ' '):
animating = not animating
animating = not animating
if isKeyTriggered(keys, 'b'):
singleStep = True
singleStep = True
if animating or singleStep:
singleStep = False
#t = pybullet_client.readUserDebugParameter(timeId)
#print("t=",t)
for i in range (1):
for i in range(1):
print("t=",t)
print("t=", t)
humanoid.setSimTime(t)
humanoid.computePose(humanoid._frameFraction)
pose = humanoid._poseInterpolator
#humanoid.initializePose(pose=pose, phys_model = humanoid._sim_model, initBase=True, initializeVelocity=True)
#humanoid.resetPose()
desiredPose = humanoid.computePose(humanoid._frameFraction)
#desiredPose = desiredPose.GetPose()
#desiredPose = desiredPose.GetPose()
#curPose = HumanoidPoseInterpolator()
#curPose.reset()
s = humanoid.getState()
#np.savetxt("pb_record_state_s.csv", s, delimiter=",")
maxForces = [0,0,0,0,0,0,0,200,200,200,200, 50,50,50,50, 200,200,200,200, 150, 90,90,90,90, 100,100,100,100, 60, 200,200,200,200, 150, 90, 90, 90, 90, 100,100,100,100, 60]
maxForces = [
0, 0, 0, 0, 0, 0, 0, 200, 200, 200, 200, 50, 50, 50, 50, 200, 200, 200, 200, 150, 90, 90,
90, 90, 100, 100, 100, 100, 60, 200, 200, 200, 200, 150, 90, 90, 90, 90, 100, 100, 100,
100, 60
]
taus = humanoid.computePDForces(desiredPose, desiredVelocities=None, maxForces=maxForces)
#print("taus=",taus)
humanoid.applyPDForces(taus)
pybullet_client.stepSimulation()
t+=1./600.
time.sleep(1./600.)
t += 1. / 600.
time.sleep(1. / 600.)