add yapf style and apply yapf to format all Python files

This recreates pull request #2192

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

@@ -1,81 +1,82 @@
 import numpy as np
 
+
 class Skeleton:
-    def __init__(self, parents, joints_left, joints_right):
-        assert len(joints_left) == len(joints_right)
-        
-        self._parents = np.array(parents)
-        self._joints_left = joints_left
-        self._joints_right = joints_right
-        self._compute_metadata()
-    
-    def num_joints(self):
-        return len(self._parents)
-    
-    def parents(self):
-        return self._parents
-    
-    def has_children(self):
-        return self._has_children
-    
-    def children(self):
-        return self._children
-    
-    def remove_joints(self, joints_to_remove):
-        """
+
+  def __init__(self, parents, joints_left, joints_right):
+    assert len(joints_left) == len(joints_right)
+
+    self._parents = np.array(parents)
+    self._joints_left = joints_left
+    self._joints_right = joints_right
+    self._compute_metadata()
+
+  def num_joints(self):
+    return len(self._parents)
+
+  def parents(self):
+    return self._parents
+
+  def has_children(self):
+    return self._has_children
+
+  def children(self):
+    return self._children
+
+  def remove_joints(self, joints_to_remove):
+    """
         Remove the joints specified in 'joints_to_remove'.
         """
-        valid_joints = []
-        for joint in range(len(self._parents)):
-            if joint not in joints_to_remove:
-                valid_joints.append(joint)
+    valid_joints = []
+    for joint in range(len(self._parents)):
+      if joint not in joints_to_remove:
+        valid_joints.append(joint)
 
-        for i in range(len(self._parents)):
-            while self._parents[i] in joints_to_remove:
-                self._parents[i] = self._parents[self._parents[i]]
-                
-        index_offsets = np.zeros(len(self._parents), dtype=int)
-        new_parents = []
-        for i, parent in enumerate(self._parents):
-            if i not in joints_to_remove:
-                new_parents.append(parent - index_offsets[parent])
-            else:
-                index_offsets[i:] += 1
-        self._parents = np.array(new_parents)
-        
-        
-        if self._joints_left is not None:
-            new_joints_left = []
-            for joint in self._joints_left:
-                if joint in valid_joints:
-                    new_joints_left.append(joint - index_offsets[joint])
-            self._joints_left = new_joints_left
-        if self._joints_right is not None:
-            new_joints_right = []
-            for joint in self._joints_right:
-                if joint in valid_joints:
-                    new_joints_right.append(joint - index_offsets[joint])
-            self._joints_right = new_joints_right
+    for i in range(len(self._parents)):
+      while self._parents[i] in joints_to_remove:
+        self._parents[i] = self._parents[self._parents[i]]
 
-        self._compute_metadata()
-        
-        return valid_joints
-    
-    def joints_left(self):
-        return self._joints_left
-    
-    def joints_right(self):
-        return self._joints_right
-        
-    def _compute_metadata(self):
-        self._has_children = np.zeros(len(self._parents)).astype(bool)
-        for i, parent in enumerate(self._parents):
-            if parent != -1:
-                self._has_children[parent] = True
+    index_offsets = np.zeros(len(self._parents), dtype=int)
+    new_parents = []
+    for i, parent in enumerate(self._parents):
+      if i not in joints_to_remove:
+        new_parents.append(parent - index_offsets[parent])
+      else:
+        index_offsets[i:] += 1
+    self._parents = np.array(new_parents)
 
-        self._children = []
-        for i, parent in enumerate(self._parents):
-            self._children.append([])
-        for i, parent in enumerate(self._parents):
-            if parent != -1:
-                self._children[parent].append(i) 
+    if self._joints_left is not None:
+      new_joints_left = []
+      for joint in self._joints_left:
+        if joint in valid_joints:
+          new_joints_left.append(joint - index_offsets[joint])
+      self._joints_left = new_joints_left
+    if self._joints_right is not None:
+      new_joints_right = []
+      for joint in self._joints_right:
+        if joint in valid_joints:
+          new_joints_right.append(joint - index_offsets[joint])
+      self._joints_right = new_joints_right
+
+    self._compute_metadata()
+
+    return valid_joints
+
+  def joints_left(self):
+    return self._joints_left
+
+  def joints_right(self):
+    return self._joints_right
+
+  def _compute_metadata(self):
+    self._has_children = np.zeros(len(self._parents)).astype(bool)
+    for i, parent in enumerate(self._parents):
+      if parent != -1:
+        self._has_children[parent] = True
+
+    self._children = []
+    for i, parent in enumerate(self._parents):
+      self._children.append([])
+    for i, parent in enumerate(self._parents):
+      if parent != -1:
+        self._children[parent].append(i)