Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add yapf style and apply yapf to format all Python files

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

13
examples/pybullet/gym/pybullet_envs/minitaur/envs/motor.py
View File

@@ -8,8 +8,7 @@ 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)
NUM_MOTORS = 8
@@ -124,21 +123,19 @@ class MotorModel(object):
observed_torque: The torque observed by the sensor.
"""
observed_torque = np.clip(
self._torque_constant *
(np.asarray(pwm) * self._voltage / self._resistance),
self._torque_constant * (np.asarray(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(
np.asarray(pwm) * self._voltage -
(self._torque_constant + self._viscous_damping) *
np.asarray(true_motor_velocity), -VOLTAGE_CLIPPING, VOLTAGE_CLIPPING)
(self._torque_constant + self._viscous_damping) * np.asarray(true_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)
actual_torque = np.multiply(self._strength_ratios, actual_torque)
return actual_torque, observed_torque