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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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111
examples/pybullet/gym/pybullet_envs/prediction/boxstack_pybullet_sim.py
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@@ -14,10 +14,7 @@ class BoxStackPyBulletSim(object):
"""
def __init__(self,
pybullet_client,
urdf_root= pybullet_data.getDataPath(),
time_step=0.01):
def __init__(self, pybullet_client, urdf_root=pybullet_data.getDataPath(), time_step=0.01):
"""Constructs an example simulation and reset it to the initial states.
Args:
@@ -28,11 +25,10 @@ class BoxStackPyBulletSim(object):
"""
self._pybullet_client = pybullet_client
self._urdf_root = urdf_root
self.m_actions_taken_since_reset=0
self.m_actions_taken_since_reset = 0
self.time_step = time_step
self.stateId = -1
self.Reset(reload_urdf=True)
def Reset(self, reload_urdf=False):
"""Reset the minitaur to its initial states.
@@ -41,58 +37,59 @@ class BoxStackPyBulletSim(object):
reload_urdf: Whether to reload the urdf file. If not, Reset() just place
the minitaur back to its starting position.
"""
self.m_actions_taken_since_reset=0
xPosRange=0.025
yPosRange=0.025
self.m_actions_taken_since_reset = 0
xPosRange = 0.025
yPosRange = 0.025
boxHalfExtents = 0.025
if reload_urdf:
camInfo = self._pybullet_client.getDebugVisualizerCamera()
cameraDistance=camInfo[10]
print("cameraYaw=",camInfo[8])
print("cameraPitch=",camInfo[9])
print("camtarget=",camInfo[11])
print("projectionMatrix=",camInfo[3])
self._pybullet_client.resetDebugVisualizerCamera(cameraDistance=0.3, cameraYaw=camInfo[8], cameraPitch=camInfo[9],cameraTargetPosition=camInfo[11])
cameraDistance = camInfo[10]
print("cameraYaw=", camInfo[8])
print("cameraPitch=", camInfo[9])
print("camtarget=", camInfo[11])
print("projectionMatrix=", camInfo[3])
self._pybullet_client.resetDebugVisualizerCamera(cameraDistance=0.3,
cameraYaw=camInfo[8],
cameraPitch=camInfo[9],
cameraTargetPosition=camInfo[11])
plane = self._pybullet_client.loadURDF("plane.urdf")
texUid = self._pybullet_client.loadTexture("checker_blue.png")
self._pybullet_client.changeVisualShape(plane,-1, textureUniqueId = texUid)
self._numObjects=4 #random number?
self._cubes=[]
red=[0.97,0.25,0.25,1]
green=[0.41,0.68,0.31,1]
yellow=[0.92,0.73,0,1]
blue=[0,0.55,0.81,1]
colors=[red,green,yellow,blue]
for i in range (self._numObjects):
pos=[0,0,boxHalfExtents + i*2*boxHalfExtents]
orn = self._pybullet_client.getQuaternionFromEuler([0,0,0])
orn=[0,0,0,1]
cube = self._pybullet_client.loadURDF("cube_small.urdf",pos,orn)
self._pybullet_client.changeVisualShape(cube,-1,rgbaColor=colors[i])
self._cubes.append(cube)
self._pybullet_client.changeVisualShape(plane, -1, textureUniqueId=texUid)
self._numObjects = 4 #random number?
self._cubes = []
red = [0.97, 0.25, 0.25, 1]
green = [0.41, 0.68, 0.31, 1]
yellow = [0.92, 0.73, 0, 1]
blue = [0, 0.55, 0.81, 1]
colors = [red, green, yellow, blue]
for i in range(self._numObjects):
pos = [0, 0, boxHalfExtents + i * 2 * boxHalfExtents]
orn = self._pybullet_client.getQuaternionFromEuler([0, 0, 0])
orn = [0, 0, 0, 1]
cube = self._pybullet_client.loadURDF("cube_small.urdf", pos, orn)
self._pybullet_client.changeVisualShape(cube, -1, rgbaColor=colors[i])
self._cubes.append(cube)
self._pybullet_client.setGravity(0, 0, -10)
self.stateId = self._pybullet_client.saveState()
else:
if (self.stateId>=0):
if (self.stateId >= 0):
self._pybullet_client.restoreState(self.stateId)
index=0
index = 0
for i in self._cubes:
posX = random.uniform(-xPosRange,xPosRange)
posY = random.uniform(-yPosRange,yPosRange)
yaw = random.uniform(-math.pi,math.pi)
pos=[posX,posY,boxHalfExtents + index*2*boxHalfExtents]
index+=1
orn = self._pybullet_client.getQuaternionFromEuler([0,0,yaw])
self._pybullet_client.resetBasePositionAndOrientation(i,pos,orn)
posX = random.uniform(-xPosRange, xPosRange)
posY = random.uniform(-yPosRange, yPosRange)
yaw = random.uniform(-math.pi, math.pi)
pos = [posX, posY, boxHalfExtents + index * 2 * boxHalfExtents]
index += 1
orn = self._pybullet_client.getQuaternionFromEuler([0, 0, yaw])
self._pybullet_client.resetBasePositionAndOrientation(i, pos, orn)
def GetActionDimension(self):
"""Get the length of the action list.
@@ -100,7 +97,7 @@ class BoxStackPyBulletSim(object):
Returns:
The length of the action list.
"""
return 4#self.num_motors
return 4 #self.num_motors
def GetObservationUpperBound(self):
"""Get the upper bound of the observation.
@@ -124,7 +121,7 @@ class BoxStackPyBulletSim(object):
The length of the observation list.
"""
sz = len(self.GetObservation())
print("sz=",sz)
print("sz=", sz)
return sz
def GetObservation(self):
@@ -135,7 +132,7 @@ class BoxStackPyBulletSim(object):
"""
observation = []
for i in self._cubes:
pos,orn=self._pybullet_client.getBasePositionAndOrientation(i)
pos, orn = self._pybullet_client.getBasePositionAndOrientation(i)
observation.extend(list(pos))
observation.extend(list(orn))
return observation
@@ -143,14 +140,14 @@ class BoxStackPyBulletSim(object):
def ApplyAction(self, action):
"""Set the desired action.
"""
self.m_actions_taken_since_reset+=1
self.m_actions_taken_since_reset += 1
def Termination(self):
return self.m_actions_taken_since_reset>=200
def CreateSim(pybullet_client,urdf_root,time_step):
return self.m_actions_taken_since_reset >= 200
def CreateSim(pybullet_client, urdf_root, time_step):
sim = BoxStackPyBulletSim(pybullet_client=pybullet_client,
urdf_root=urdf_root,
time_step=time_step)
urdf_root=urdf_root,
time_step=time_step)
return sim