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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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100
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_derpy.py
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@@ -6,13 +6,13 @@ It is the result of first pass system identification for the derpy robot. The
"""
import math
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 numpy as np
from pybullet_envs.minitaur.envs import minitaur
from pybullet_envs.minitaur.envs import minitaur
KNEE_CONSTRAINT_POINT_LONG = [0, 0.0055, 0.088]
KNEE_CONSTRAINT_POINT_SHORT = [0, 0.0055, 0.100]
@@ -46,13 +46,12 @@ class MinitaurDerpy(minitaur.Minitaur):
"%s/quadruped/minitaur_derpy.urdf" % self._urdf_root,
init_position,
useFixedBase=self._on_rack,
flags=(
self._pybullet_client.URDF_USE_SELF_COLLISION_EXCLUDE_PARENT))
flags=(self._pybullet_client.URDF_USE_SELF_COLLISION_EXCLUDE_PARENT))
else:
self.quadruped = self._pybullet_client.loadURDF(
"%s/quadruped/minitaur_derpy.urdf" % self._urdf_root,
init_position,
useFixedBase=self._on_rack)
self.quadruped = self._pybullet_client.loadURDF("%s/quadruped/minitaur_derpy.urdf" %
self._urdf_root,
init_position,
useFixedBase=self._on_rack)
self._BuildJointNameToIdDict()
self._BuildUrdfIds()
if self._remove_default_joint_damping:
@@ -62,10 +61,9 @@ class MinitaurDerpy(minitaur.Minitaur):
self._RecordInertiaInfoFromURDF()
self.ResetPose(add_constraint=True)
else:
self._pybullet_client.resetBasePositionAndOrientation(
self.quadruped, init_position, minitaur.INIT_ORIENTATION)
self._pybullet_client.resetBaseVelocity(self.quadruped, [0, 0, 0],
[0, 0, 0])
self._pybullet_client.resetBasePositionAndOrientation(self.quadruped, init_position,
minitaur.INIT_ORIENTATION)
self._pybullet_client.resetBaseVelocity(self.quadruped, [0, 0, 0], [0, 0, 0])
self.ResetPose(add_constraint=False)
self._overheat_counter = np.zeros(self.num_motors)
@@ -103,68 +101,60 @@ class MinitaurDerpy(minitaur.Minitaur):
knee_angle = -2.1834
leg_position = minitaur.LEG_POSITION[leg_id]
self._pybullet_client.resetJointState(
self.quadruped,
self._joint_name_to_id["motor_" + leg_position + "L_joint"],
self._motor_direction[2 * leg_id] * half_pi,
targetVelocity=0)
self._pybullet_client.resetJointState(
self.quadruped,
self._joint_name_to_id["knee_" + leg_position + "L_joint"],
self._motor_direction[2 * leg_id] * knee_angle,
targetVelocity=0)
self._pybullet_client.resetJointState(
self.quadruped,
self._joint_name_to_id["motor_" + leg_position + "R_joint"],
self._motor_direction[2 * leg_id + 1] * half_pi,
targetVelocity=0)
self._pybullet_client.resetJointState(
self.quadruped,
self._joint_name_to_id["knee_" + leg_position + "R_joint"],
self._motor_direction[2 * leg_id + 1] * knee_angle,
targetVelocity=0)
self._pybullet_client.resetJointState(self.quadruped,
self._joint_name_to_id["motor_" + leg_position +
"L_joint"],
self._motor_direction[2 * leg_id] * half_pi,
targetVelocity=0)
self._pybullet_client.resetJointState(self.quadruped,
self._joint_name_to_id["knee_" + leg_position +
"L_joint"],
self._motor_direction[2 * leg_id] * knee_angle,
targetVelocity=0)
self._pybullet_client.resetJointState(self.quadruped,
self._joint_name_to_id["motor_" + leg_position +
"R_joint"],
self._motor_direction[2 * leg_id + 1] * half_pi,
targetVelocity=0)
self._pybullet_client.resetJointState(self.quadruped,
self._joint_name_to_id["knee_" + leg_position +
"R_joint"],
self._motor_direction[2 * leg_id + 1] * knee_angle,
targetVelocity=0)
if add_constraint:
if leg_id < 2:
self._pybullet_client.createConstraint(
self.quadruped,
self._joint_name_to_id["knee_" + leg_position + "R_joint"],
self.quadruped,
self._joint_name_to_id["knee_" + leg_position + "L_joint"],
self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0],
KNEE_CONSTRAINT_POINT_SHORT, KNEE_CONSTRAINT_POINT_LONG)
self.quadruped, self._joint_name_to_id["knee_" + leg_position + "R_joint"],
self.quadruped, self._joint_name_to_id["knee_" + leg_position + "L_joint"],
self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0], KNEE_CONSTRAINT_POINT_SHORT,
KNEE_CONSTRAINT_POINT_LONG)
else:
self._pybullet_client.createConstraint(
self.quadruped,
self._joint_name_to_id["knee_" + leg_position + "R_joint"],
self.quadruped,
self._joint_name_to_id["knee_" + leg_position + "L_joint"],
self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0],
KNEE_CONSTRAINT_POINT_LONG, KNEE_CONSTRAINT_POINT_SHORT)
self.quadruped, self._joint_name_to_id["knee_" + leg_position + "R_joint"],
self.quadruped, self._joint_name_to_id["knee_" + leg_position + "L_joint"],
self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0], KNEE_CONSTRAINT_POINT_LONG,
KNEE_CONSTRAINT_POINT_SHORT)
if self._accurate_motor_model_enabled or self._pd_control_enabled:
# Disable the default motor in pybullet.
self._pybullet_client.setJointMotorControl2(
bodyIndex=self.quadruped,
jointIndex=(
self._joint_name_to_id["motor_" + leg_position + "L_joint"]),
jointIndex=(self._joint_name_to_id["motor_" + leg_position + "L_joint"]),
controlMode=self._pybullet_client.VELOCITY_CONTROL,
targetVelocity=0,
force=knee_friction_force)
self._pybullet_client.setJointMotorControl2(
bodyIndex=self.quadruped,
jointIndex=(
self._joint_name_to_id["motor_" + leg_position + "R_joint"]),
jointIndex=(self._joint_name_to_id["motor_" + leg_position + "R_joint"]),
controlMode=self._pybullet_client.VELOCITY_CONTROL,
targetVelocity=0,
force=knee_friction_force)
else:
self._SetDesiredMotorAngleByName(
"motor_" + leg_position + "L_joint",
self._motor_direction[2 * leg_id] * half_pi)
self._SetDesiredMotorAngleByName(
"motor_" + leg_position + "R_joint",
self._motor_direction[2 * leg_id + 1] * half_pi)
self._SetDesiredMotorAngleByName("motor_" + leg_position + "L_joint",
self._motor_direction[2 * leg_id] * half_pi)
self._SetDesiredMotorAngleByName("motor_" + leg_position + "R_joint",
self._motor_direction[2 * leg_id + 1] * half_pi)
self._pybullet_client.setJointMotorControl2(
bodyIndex=self.quadruped,