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fix spaces/tab issue in urdfEditor.py

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This commit is contained in:
Erwin Coumans
2018-04-12 14:01:17 -07:00
parent 391b0e4061
commit fcce77fe49
1 changed files with 13 additions and 24 deletions
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37
examples/pybullet/gym/pybullet_utils/urdfEditor.py
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@@ -375,8 +375,8 @@ class UrdfEditor(object):
physicsClientId=physicsClientId) physicsClientId=physicsClientId)
urdfVisuals = base.urdf_visual_shapes urdfVisuals = base.urdf_visual_shapes
baseVisualShapeIndex = p.createVisualShapeArray(shapeTypes=[v.geom_type for v in urdfVisuals], baseVisualShapeIndex = p.createVisualShapeArray(shapeTypes=[v.geom_type for v in urdfVisuals],
halfExtents=[[ext * 0.5 for ext in v.geom_extents] for v in urdfVisuals], halfExtents=[[ext * 0.5 for ext in v.geom_extents] for v in urdfVisuals],
radii=[v.geom_radius for v in urdfVisuals], radii=[v.geom_radius for v in urdfVisuals],
lengths=[v.geom_length[0] for v in urdfVisuals], lengths=[v.geom_length[0] for v in urdfVisuals],
@@ -453,28 +453,17 @@ class UrdfEditor(object):
collisionFrameOrientations=linkOrientationsArray, collisionFrameOrientations=linkOrientationsArray,
physicsClientId=physicsClientId) physicsClientId=physicsClientId)
urdfVisuals = link.urdf_visual_shapes urdfVisuals = link.urdf_visual_shapes
linkVisualShapeIndex = p.createVisualShapeArray(shapeTypes=[v.geom_type for v in urdfVisuals], linkVisualShapeIndex = p.createVisualShapeArray(shapeTypes=[v.geom_type for v in urdfVisuals],
halfExtents=[[ext * 0.5 for ext in v.geom_extents] for v in urdfVisuals], halfExtents=[[ext * 0.5 for ext in v.geom_extents] for v in urdfVisuals],
radii=[v.geom_radius for v in urdfVisuals], radii=[v.geom_radius for v in urdfVisuals],
lengths=[v.geom_length[0] for v in urdfVisuals], lengths=[v.geom_length[0] for v in urdfVisuals],
fileNames=[v.geom_meshfilename for v in urdfVisuals], fileNames=[v.geom_meshfilename for v in urdfVisuals],
meshScales=[v.geom_meshscale for v in urdfVisuals], meshScales=[v.geom_meshscale for v in urdfVisuals],
rgbaColors=[v.material_rgba for v in urdfVisuals], rgbaColors=[v.material_rgba for v in urdfVisuals],
visualFramePositions=[v.origin_xyz for v in urdfVisuals], visualFramePositions=[v.origin_xyz for v in urdfVisuals],
visualFrameOrientations=[v.origin_rpy for v in urdfVisuals], visualFrameOrientations=[v.origin_rpy for v in urdfVisuals],
physicsClientId=physicsClientId) physicsClientId=physicsClientId)
# linkVisualShapeIndex = p.createVisualShape(shapeType=urdfVisual.geom_type,
# halfExtents=[ext * 0.5 for ext in urdfVisual.geom_extents],
# radius=urdfVisual.geom_radius,
# length=urdfVisual.geom_length[0],
# fileName=urdfVisual.geom_meshfilename,
# meshScale=urdfVisual.geom_meshscale,
# rgbaColor=urdfVisual.material_rgba,
# visualFramePosition=urdfVisual.origin_xyz,
# visualFrameOrientation=urdfVisual.origin_rpy,
# physicsClientId=physicsClientId)
linkMasses.append(linkMass) linkMasses.append(linkMass)
linkCollisionShapeIndices.append(linkCollisionShapeIndex) linkCollisionShapeIndices.append(linkCollisionShapeIndex)