add yapf style and apply yapf to format all Python files

This recreates pull request #2192

examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py

@@ -2,8 +2,8 @@ import os
 import inspect
 currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
 parentdir = os.path.dirname(os.path.dirname(currentdir))
-os.sys.path.insert(0,parentdir)
-print("parentdir=",parentdir)
+os.sys.path.insert(0, parentdir)
+print("parentdir=", parentdir)
 import json
 from pybullet_envs.deep_mimic.learning.rl_world import RLWorld
 from pybullet_envs.deep_mimic.learning.ppo_agent import PPOAgent
@@ -15,81 +15,78 @@ from pybullet_envs.deep_mimic.env.pybullet_deep_mimic_env import PyBulletDeepMim
 import sys
 import random
 
-update_timestep = 1./240.
+update_timestep = 1. / 240.
 animating = True
 
+
 def update_world(world, time_elapsed):
-    timeStep = update_timestep
-    world.update(timeStep)
-    reward = world.env.calc_reward(agent_id=0)
-    #print("reward=",reward)
-    end_episode = world.env.is_episode_end()
-    if (end_episode):
-      world.end_episode()
-      world.reset()
-    return
+  timeStep = update_timestep
+  world.update(timeStep)
+  reward = world.env.calc_reward(agent_id=0)
+  #print("reward=",reward)
+  end_episode = world.env.is_episode_end()
+  if (end_episode):
+    world.end_episode()
+    world.reset()
+  return
+
 
 def build_arg_parser(args):
-    arg_parser = ArgParser()
-    arg_parser.load_args(args)
+  arg_parser = ArgParser()
+  arg_parser.load_args(args)
+
+  arg_file = arg_parser.parse_string('arg_file', '')
+  if (arg_file != ''):
+    path = pybullet_data.getDataPath() + "/args/" + arg_file
+    succ = arg_parser.load_file(path)
+    Logger.print2(arg_file)
+    assert succ, Logger.print2('Failed to load args from: ' + arg_file)
+  return arg_parser
 
-    arg_file = arg_parser.parse_string('arg_file', '')
-    if (arg_file != ''):
-        path = pybullet_data.getDataPath()+"/args/"+arg_file
-        succ = arg_parser.load_file(path)
-        Logger.print2(arg_file)
-        assert succ, Logger.print2('Failed to load args from: ' + arg_file)
-    return arg_parser
 
 args = sys.argv[1:]
 
 
-
 def build_world(args, enable_draw):
-    arg_parser = build_arg_parser(args)
-    print("enable_draw=",enable_draw)
-    env = PyBulletDeepMimicEnv(arg_parser, enable_draw)
-    world = RLWorld(env, arg_parser)
-    #world.env.set_playback_speed(playback_speed)
+  arg_parser = build_arg_parser(args)
+  print("enable_draw=", enable_draw)
+  env = PyBulletDeepMimicEnv(arg_parser, enable_draw)
+  world = RLWorld(env, arg_parser)
+  #world.env.set_playback_speed(playback_speed)
 
-    motion_file = arg_parser.parse_string("motion_file")
-    print("motion_file=",motion_file)
-    bodies = arg_parser.parse_ints("fall_contact_bodies")
-    print("bodies=",bodies)
-    int_output_path = arg_parser.parse_string("int_output_path")
-    print("int_output_path=",int_output_path)
-    agent_files = pybullet_data.getDataPath()+"/"+arg_parser.parse_string("agent_files")
+  motion_file = arg_parser.parse_string("motion_file")
+  print("motion_file=", motion_file)
+  bodies = arg_parser.parse_ints("fall_contact_bodies")
+  print("bodies=", bodies)
+  int_output_path = arg_parser.parse_string("int_output_path")
+  print("int_output_path=", int_output_path)
+  agent_files = pybullet_data.getDataPath() + "/" + arg_parser.parse_string("agent_files")
 
-    AGENT_TYPE_KEY = "AgentType"
+  AGENT_TYPE_KEY = "AgentType"
 
-    print("agent_file=",agent_files)
-    with open(agent_files) as data_file:
-        json_data = json.load(data_file)
-        print("json_data=",json_data)
-        assert AGENT_TYPE_KEY in json_data
-        agent_type = json_data[AGENT_TYPE_KEY]
-        print("agent_type=",agent_type)
-        agent = PPOAgent(world, id, json_data)
-    
-        agent.set_enable_training(False)
-        world.reset()
-    return world    
+  print("agent_file=", agent_files)
+  with open(agent_files) as data_file:
+    json_data = json.load(data_file)
+    print("json_data=", json_data)
+    assert AGENT_TYPE_KEY in json_data
+    agent_type = json_data[AGENT_TYPE_KEY]
+    print("agent_type=", agent_type)
+    agent = PPOAgent(world, id, json_data)
+
+    agent.set_enable_training(False)
+    world.reset()
+  return world
 
 
-
-  
-    
 if __name__ == '__main__':
-    
-    world = build_world(args, True)
-    while (world.env._pybullet_client.isConnected()):
-      timeStep = update_timestep
-      keys = world.env.getKeyboardEvents()
-      
-        
-      if world.env.isKeyTriggered(keys, ' '):
-        animating = not animating
-      if (animating):
-        update_world(world, timeStep)
-        #animating=False
 
+  world = build_world(args, True)
+  while (world.env._pybullet_client.isConnected()):
+    timeStep = update_timestep
+    keys = world.env.getKeyboardEvents()
+
+    if world.env.isKeyTriggered(keys, ' '):
+      animating = not animating
+    if (animating):
+      update_world(world, timeStep)
+      #animating=False