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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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82
examples/pybullet/gym/pybullet_envs/scene_stadium.py
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@@ -1,52 +1,54 @@
import os, inspect
import os, inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
os.sys.path.insert(0,parentdir)
os.sys.path.insert(0, parentdir)
import pybullet_data
from pybullet_envs.scene_abstract import Scene
import pybullet
import pybullet
class StadiumScene(Scene):
zero_at_running_strip_start_line = True # if False, center of coordinates (0,0,0) will be at the middle of the stadium
stadium_halflen = 105*0.25 # FOOBALL_FIELD_HALFLEN
stadium_halfwidth = 50*0.25 # FOOBALL_FIELD_HALFWID
stadiumLoaded=0
def episode_restart(self, bullet_client):
self._p = bullet_client
Scene.episode_restart(self, bullet_client) # contains cpp_world.clean_everything()
if (self.stadiumLoaded==0):
self.stadiumLoaded=1
# stadium_pose = cpp_household.Pose()
# if self.zero_at_running_strip_start_line:
# stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants
filename = os.path.join(pybullet_data.getDataPath(),"plane_stadium.sdf")
self.ground_plane_mjcf=self._p.loadSDF(filename)
#filename = os.path.join(pybullet_data.getDataPath(),"stadium_no_collision.sdf")
#self.ground_plane_mjcf = self._p.loadSDF(filename)
#
for i in self.ground_plane_mjcf:
self._p.changeDynamics(i,-1,lateralFriction=0.8, restitution=0.5)
self._p.changeVisualShape(i,-1,rgbaColor=[1,1,1,0.8])
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_PLANAR_REFLECTION,1)
zero_at_running_strip_start_line = True # if False, center of coordinates (0,0,0) will be at the middle of the stadium
stadium_halflen = 105 * 0.25 # FOOBALL_FIELD_HALFLEN
stadium_halfwidth = 50 * 0.25 # FOOBALL_FIELD_HALFWID
stadiumLoaded = 0
def episode_restart(self, bullet_client):
self._p = bullet_client
Scene.episode_restart(self, bullet_client) # contains cpp_world.clean_everything()
if (self.stadiumLoaded == 0):
self.stadiumLoaded = 1
# stadium_pose = cpp_household.Pose()
# if self.zero_at_running_strip_start_line:
# stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants
filename = os.path.join(pybullet_data.getDataPath(), "plane_stadium.sdf")
self.ground_plane_mjcf = self._p.loadSDF(filename)
#filename = os.path.join(pybullet_data.getDataPath(),"stadium_no_collision.sdf")
#self.ground_plane_mjcf = self._p.loadSDF(filename)
#
for i in self.ground_plane_mjcf:
self._p.changeDynamics(i, -1, lateralFriction=0.8, restitution=0.5)
self._p.changeVisualShape(i, -1, rgbaColor=[1, 1, 1, 0.8])
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_PLANAR_REFLECTION, 1)
# for j in range(p.getNumJoints(i)):
# self._p.changeDynamics(i,j,lateralFriction=0)
#despite the name (stadium_no_collision), it DID have collision, so don't add duplicate ground
# for j in range(p.getNumJoints(i)):
# self._p.changeDynamics(i,j,lateralFriction=0)
#despite the name (stadium_no_collision), it DID have collision, so don't add duplicate ground
class SinglePlayerStadiumScene(StadiumScene):
"This scene created by environment, to work in a way as if there was no concept of scene visible to user."
multiplayer = False
"This scene created by environment, to work in a way as if there was no concept of scene visible to user."
multiplayer = False
class MultiplayerStadiumScene(StadiumScene):
multiplayer = True
players_count = 3
def actor_introduce(self, robot):
StadiumScene.actor_introduce(self, robot)
i = robot.player_n - 1 # 0 1 2 => -1 0 +1
robot.move_robot(0, i, 0)
multiplayer = True
players_count = 3
def actor_introduce(self, robot):
StadiumScene.actor_introduce(self, robot)
i = robot.player_n - 1 # 0 1 2 => -1 0 +1
robot.move_robot(0, i, 0)