1 files changed, 29 insertions, 33 deletions
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/minitaur_raibert_controller_example.py b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/minitaur_raibert_controller_example.py
index 0be299a75..40e6b4799 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/minitaur_raibert_controller_example.py
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/minitaur_raibert_controller_example.py
@@ -15,9 +15,8 @@ FLAGS = tf.app.flags.FLAGS
 
 flags.DEFINE_float("motor_kp", 1.0, "The position gain of the motor.")
 flags.DEFINE_float("motor_kd", 0.015, "The speed gain of the motor.")
-flags.DEFINE_float(
-    "control_latency", 0.006, "The latency between sensor measurement and action"
-    " execution the robot.")
+flags.DEFINE_float("control_latency", 0.006, "The latency between sensor measurement and action"
+                   " execution the robot.")
 flags.DEFINE_string("log_path", ".", "The directory to write the log file.")
 
 
@@ -31,37 +30,34 @@ def speed(t):
 
 
 def main(argv):
-    del argv
-    env = minitaur_gym_env.MinitaurGymEnv(
-        urdf_version=minitaur_gym_env.RAINBOW_DASH_V0_URDF_VERSION,
-        control_time_step=0.006,
-        action_repeat=6,
-        pd_latency=0.0,
-        control_latency=FLAGS.control_latency,
-        motor_kp=FLAGS.motor_kp,
-        motor_kd=FLAGS.motor_kd,
-        remove_default_joint_damping=True,
-        leg_model_enabled=False,
-        render=True,
-        on_rack=False,
-        accurate_motor_model_enabled=True,
-        log_path=FLAGS.log_path)
-    env.reset()
+  del argv
+  env = minitaur_gym_env.MinitaurGymEnv(urdf_version=minitaur_gym_env.RAINBOW_DASH_V0_URDF_VERSION,
+                                        control_time_step=0.006,
+                                        action_repeat=6,
+                                        pd_latency=0.0,
+                                        control_latency=FLAGS.control_latency,
+                                        motor_kp=FLAGS.motor_kp,
+                                        motor_kd=FLAGS.motor_kd,
+                                        remove_default_joint_damping=True,
+                                        leg_model_enabled=False,
+                                        render=True,
+                                        on_rack=False,
+                                        accurate_motor_model_enabled=True,
+                                        log_path=FLAGS.log_path)
+  env.reset()
+
+  controller = minitaur_raibert_controller.MinitaurRaibertTrottingController(env.minitaur)
+
+  tstart = env.minitaur.GetTimeSinceReset()
+  for _ in range(1000):
+    t = env.minitaur.GetTimeSinceReset() - tstart
+    controller.behavior_parameters = (minitaur_raibert_controller.BehaviorParameters(
+        desired_forward_speed=speed(t)))
+    controller.update(t)
+    env.step(controller.get_action())
+
+  #env.close()
 
-    controller = minitaur_raibert_controller.MinitaurRaibertTrottingController(
-        env.minitaur)
-
-    tstart = env.minitaur.GetTimeSinceReset()
-    for _ in range(1000):
-      t = env.minitaur.GetTimeSinceReset() - tstart
-      controller.behavior_parameters = (
-          minitaur_raibert_controller.BehaviorParameters(
-              desired_forward_speed=speed(t)))
-      controller.update(t)
-      env.step(controller.get_action())
-
-    #env.close()
 
 if __name__ == "__main__":
   tf.app.run(main)
-