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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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27
examples/pybullet/gym/pybullet_utils/examples/combineUrdf.py
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@@ -10,7 +10,6 @@ p0.setAdditionalSearchPath(pybullet_data.getDataPath())
p1 = bc.BulletClient(connection_mode=pybullet.DIRECT)
p1.setAdditionalSearchPath(pybullet_data.getDataPath())
#can also connect using different modes, GUI, SHARED_MEMORY, TCP, UDP, SHARED_MEMORY_SERVER, GUI_SERVER
husky = p1.loadURDF("husky/husky.urdf", flags=p0.URDF_USE_IMPLICIT_CYLINDER)
@@ -22,36 +21,34 @@ ed1 = ed.UrdfEditor()
ed1.initializeFromBulletBody(kuka, p0._client)
#ed1.saveUrdf("combined.urdf")
parentLinkIndex = 0
jointPivotXYZInParent = [0,0,0]
jointPivotRPYInParent = [0,0,0]
jointPivotXYZInParent = [0, 0, 0]
jointPivotRPYInParent = [0, 0, 0]
jointPivotXYZInChild = [0, 0, 0]
jointPivotRPYInChild = [0, 0, 0]
jointPivotXYZInChild = [0,0,0]
jointPivotRPYInChild = [0,0,0]
newjoint = ed0.joinUrdf(ed1, parentLinkIndex , jointPivotXYZInParent, jointPivotRPYInParent, jointPivotXYZInChild, jointPivotRPYInChild, p0._client, p1._client)
newjoint = ed0.joinUrdf(ed1, parentLinkIndex, jointPivotXYZInParent, jointPivotRPYInParent,
jointPivotXYZInChild, jointPivotRPYInChild, p0._client, p1._client)
newjoint.joint_type = p0.JOINT_FIXED
ed0.saveUrdf("combined.urdf")
print(p0._client)
print(p1._client)
print("p0.getNumBodies()=",p0.getNumBodies())
print("p1.getNumBodies()=",p1.getNumBodies())
print("p0.getNumBodies()=", p0.getNumBodies())
print("p1.getNumBodies()=", p1.getNumBodies())
pgui = bc.BulletClient(connection_mode=pybullet.GUI)
pgui.configureDebugVisualizer(pgui.COV_ENABLE_RENDERING, 0)
orn=[0,0,0,1]
ed0.createMultiBody([0,0,0],orn, pgui._client)
orn = [0, 0, 0, 1]
ed0.createMultiBody([0, 0, 0], orn, pgui._client)
pgui.setRealTimeSimulation(1)
pgui.configureDebugVisualizer(pgui.COV_ENABLE_RENDERING, 1)
while (pgui.isConnected()):
pgui.getCameraImage(320,200, renderer=pgui.ER_BULLET_HARDWARE_OPENGL)
time.sleep(1./240.)
pgui.getCameraImage(320, 200, renderer=pgui.ER_BULLET_HARDWARE_OPENGL)
time.sleep(1. / 240.)

8
examples/pybullet/gym/pybullet_utils/examples/combined.py
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@@ -2,12 +2,10 @@ import pybullet as p
p.connect(p.GUI)
p.loadURDF("combined.urdf", useFixedBase=True)
#for j in range (p.getNumJoints(0)):
# p.setJointMotorControl2(0,j,p.VELOCITY_CONTROL,targetVelocity=0.1)
p.setRealTimeSimulation(1)
while (p.isConnected()):
p.getCameraImage(320,200)
import time
time.sleep(1./240.)
p.getCameraImage(320, 200)
import time
time.sleep(1. / 240.)

28
examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py
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@@ -6,7 +6,9 @@ import pybullet_data as pd
import pybullet_utils.urdfEditor as ed
import argparse
parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--mjcf', help='MuJoCo xml file to be converted to URDF', default='mjcf/humanoid.xml')
parser.add_argument('--mjcf',
help='MuJoCo xml file to be converted to URDF',
default='mjcf/humanoid.xml')
args = parser.parse_args()
p = bc.BulletClient()
@@ -14,15 +16,15 @@ p.setAdditionalSearchPath(pd.getDataPath())
objs = p.loadMJCF(args.mjcf, flags=p.URDF_USE_IMPLICIT_CYLINDER)
for o in objs:
#print("o=",o, p.getBodyInfo(o), p.getNumJoints(o))
humanoid = objs[o]
ed0 = ed.UrdfEditor()
ed0.initializeFromBulletBody(humanoid, p._client)
robotName = str(p.getBodyInfo(o)[1],'utf-8')
partName = str(p.getBodyInfo(o)[0], 'utf-8')
print("robotName=",robotName)
print("partName=",partName)
saveVisuals=False
ed0.saveUrdf(robotName+"_"+partName+".urdf", saveVisuals)
#print("o=",o, p.getBodyInfo(o), p.getNumJoints(o))
humanoid = objs[o]
ed0 = ed.UrdfEditor()
ed0.initializeFromBulletBody(humanoid, p._client)
robotName = str(p.getBodyInfo(o)[1], 'utf-8')
partName = str(p.getBodyInfo(o)[0], 'utf-8')
print("robotName=", robotName)
print("partName=", partName)
saveVisuals = False
ed0.saveUrdf(robotName + "_" + partName + ".urdf", saveVisuals)

5
examples/pybullet/gym/pybullet_utils/examples/multipleScenes.py
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@@ -15,6 +15,5 @@ p0.loadURDF("r2d2.urdf")
p1.loadSDF("stadium.sdf")
print(p0._client)
print(p1._client)
print("p0.getNumBodies()=",p0.getNumBodies())
print("p1.getNumBodies()=",p1.getNumBodies())
print("p0.getNumBodies()=", p0.getNumBodies())
print("p1.getNumBodies()=", p1.getNumBodies())

34
examples/pybullet/gym/pybullet_utils/examples/testargs.py
View File

@@ -1,26 +1,28 @@
import pybullet_data
from pybullet_utils.arg_parser import ArgParser
from pybullet_utils.logger import Logger
from pybullet_utils.arg_parser import ArgParser
from pybullet_utils.logger import Logger
import sys
def build_arg_parser(args):
arg_parser = ArgParser()
arg_parser.load_args(args)
arg_file = arg_parser.parse_string('arg_file', '')
if (arg_file != ''):
path = pybullet_data.getDataPath()+"/args/"+arg_file
succ = arg_parser.load_file(path)
Logger.print2(arg_file)
assert succ, Logger.print2('Failed to load args from: ' + arg_file)
def build_arg_parser(args):
arg_parser = ArgParser()
arg_parser.load_args(args)
arg_file = arg_parser.parse_string('arg_file', '')
if (arg_file != ''):
path = pybullet_data.getDataPath() + "/args/" + arg_file
succ = arg_parser.load_file(path)
Logger.print2(arg_file)
assert succ, Logger.print2('Failed to load args from: ' + arg_file)
return arg_parser
return arg_parser
args = sys.argv[1:]
arg_parser = build_arg_parser(args)
motion_file = arg_parser.parse_string("motion_file")
print("motion_file=",motion_file)
motion_file = arg_parser.parse_string("motion_file")
print("motion_file=", motion_file)
bodies = arg_parser.parse_ints("fall_contact_bodies")
print("bodies=",bodies)
print("bodies=", bodies)
int_output_path = arg_parser.parse_string("int_output_path")
print("int_output_path=",int_output_path)
print("int_output_path=", int_output_path)

6
examples/pybullet/gym/pybullet_utils/examples/testlog.py
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@@ -1,9 +1,9 @@
from pybullet_utils.logger import Logger
logger = Logger()
logger.configure_output_file("e:/mylog.txt")
for i in range (10):
logger.log_tabular("Iteration", 1)
for i in range(10):
logger.log_tabular("Iteration", 1)
Logger.print2("hello world")
logger.print_tabular()
logger.dump_tabular()
logger.dump_tabular()