8000 fix format of some files · silvery107/rl-mpc-locomotion@80cdc6d · GitHub
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silvery107silvery107
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fix format of some files
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-41
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3 files changed

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‎MPC_Controller/Parameters.py‎

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@@ -45,4 +45,4 @@ class Parameters:
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locomotionUnsafe = False # global indicator for switching contorl mode
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# FSM_check_safety = False
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FSM_print_info = False
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FSM_print_info = False

‎RL_Environment/sim_utils.py‎

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@@ -240,4 +240,4 @@ def new_sub_terrain(): return SubTerrain(width=num_rows, length=num_cols, vertic
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tm_params.nb_triangles = triangles.shape[0]
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tm_params.transform.p.x = -1.
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tm_params.transform.p.y = -terrain_width/2 - 1.
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gym.add_triangle_mesh(sim, vertices.flatten(), triangles.flatten(), tm_params)
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gym.add_triangle_mesh(sim, vertices.flatten(), triangles.flatten(), tm_params)

‎RL_Environment/tasks/__init__.py‎

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@@ -1,49 +1,12 @@
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# Copyright (c) 2018-2021, NVIDIA Corporation
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice, this
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# list of conditions and the following disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# 3. Neither the name of the copyright holder nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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# from tasks.ant import Ant
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from tasks.anymal import Anymal
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from tasks.aliengo import Aliengo
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from tasks.anymal_terrain import AnymalTerrain
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from tasks.aliengo import Aliengo
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from tasks.go1 import Go1
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# from tasks.ball_balance import BallBalance
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# from tasks.cartpole import Cartpole
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# from tasks.humanoid import Humanoid
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# Mappings from strings to environments
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isaacgym_task_map = {
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# "Ant": Ant,
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"Anymal": Anymal,
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"Aliengo":Aliengo,
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"AnymalTerrain": AnymalTerrain,
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"Aliengo":Aliengo,
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"Go1":Go1,
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# "BallBalance": BallBalance,
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# "Cartpole": Cartpole,
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# "Humanoid": Humanoid,
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}

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