add yapf style and apply yapf to format all Python files

This recreates pull request #2192

examples/pybullet/gym/pybullet_envs/deep_mimic/mocap/quaternion.py

@@ -1,30 +1,31 @@
 import numpy as np
 
+
 def qrot(q, v):
-    """
+  """
     Rotate vector(s) v about the rotation described by quaternion(s) q.
     Expects a tensor of shape (*, 4) for q and a tensor of shape (*, 3) for v,
     where * denotes any number of dimensions.
     Returns a tensor of shape (*, 3).
     """
-    assert q.shape[-1] == 4
-    assert v.shape[-1] == 3
-    assert q.shape[:-1] == v.shape[:-1]
+  assert q.shape[-1] == 4
+  assert v.shape[-1] == 3
+  assert q.shape[:-1] == v.shape[:-1]
+
+  qvec = q[..., 1:]
+
+  uv = np.cross(qvec, v)
+  uuv = np.cross(qvec, uv)
+
+  return (v + 2 * (q[..., :1] * uv + uuv))
 
-    qvec = q[..., 1:]
 
-    uv = np.cross(qvec, v)
-    uuv = np.cross(qvec, uv)
-    
-    return (v + 2 * (q[..., :1] * uv + uuv))
-    
 def qinverse(q, inplace=False):
-    # We assume the quaternion to be normalized
-    if inplace:
-        q[..., 1:] *= -1
-        return q
-    else:
-        w = q[..., :1]
-        xyz = q[..., 1:]
-        return np.hstack((w, -xyz))
- 
+  # We assume the quaternion to be normalized
+  if inplace:
+    q[..., 1:] *= -1
+    return q
+  else:
+    w = q[..., :1]
+    xyz = q[..., 1:]
+    return np.hstack((w, -xyz))