add yapf style and apply yapf to format all Python files

This recreates pull request #2192

examples/pybullet/gym/pybullet_envs/scene_abstract.py

@@ -1,78 +1,79 @@
 import sys, os
 sys.path.append(os.path.dirname(__file__))
-import pybullet 
+import pybullet
 
 import gym
 
 
 class Scene:
-    "A base class for single- and multiplayer scenes"
+  "A base class for single- and multiplayer scenes"
 
-    def __init__(self, bullet_client, gravity, timestep, frame_skip):
-        self._p = bullet_client
-        self.np_random, seed = gym.utils.seeding.np_random(None)
-        self.timestep = timestep
-        self.frame_skip = frame_skip
+  def __init__(self, bullet_client, gravity, timestep, frame_skip):
+    self._p = bullet_client
+    self.np_random, seed = gym.utils.seeding.np_random(None)
+    self.timestep = timestep
+    self.frame_skip = frame_skip
 
-        self.dt = self.timestep * self.frame_skip
-        self.cpp_world = World(self._p, gravity, timestep, frame_skip)
+    self.dt = self.timestep * self.frame_skip
+    self.cpp_world = World(self._p, gravity, timestep, frame_skip)
 
-        self.test_window_still_open = True  # or never opened
-        self.human_render_detected = False  # if user wants render("human"), we open test window
+    self.test_window_still_open = True  # or never opened
+    self.human_render_detected = False  # if user wants render("human"), we open test window
 
-        self.multiplayer_robots = {}
+    self.multiplayer_robots = {}
 
-    def test_window(self):
-        "Call this function every frame, to see what's going on. Not necessary in learning."
-        self.human_render_detected = True
-        return self.test_window_still_open
+  def test_window(self):
+    "Call this function every frame, to see what's going on. Not necessary in learning."
+    self.human_render_detected = True
+    return self.test_window_still_open
 
-    def actor_introduce(self, robot):
-        "Usually after scene reset"
-        if not self.multiplayer: return
-        self.multiplayer_robots[robot.player_n] = robot
+  def actor_introduce(self, robot):
+    "Usually after scene reset"
+    if not self.multiplayer: return
+    self.multiplayer_robots[robot.player_n] = robot
 
-    def actor_is_active(self, robot):
-        """
+  def actor_is_active(self, robot):
+    """
         Used by robots to see if they are free to exclusiveley put their HUD on the test window.
         Later can be used for click-focus robots.
         """
-        return not self.multiplayer
+    return not self.multiplayer
 
-    def episode_restart(self, bullet_client):
-        "This function gets overridden by specific scene, to reset specific objects into their start positions"
-        self.cpp_world.clean_everything()
-        #self.cpp_world.test_window_history_reset()
+  def episode_restart(self, bullet_client):
+    "This function gets overridden by specific scene, to reset specific objects into their start positions"
+    self.cpp_world.clean_everything()
+    #self.cpp_world.test_window_history_reset()
 
-    def global_step(self):
-        """
+  def global_step(self):
+    """
         The idea is: apply motor torques for all robots, then call global_step(), then collect
         observations from robots using step() with the same action.
         """
-        self.cpp_world.step(self.frame_skip)
+    self.cpp_world.step(self.frame_skip)
+
 
 class SingleRobotEmptyScene(Scene):
-    multiplayer = False  # this class is used "as is" for InvertedPendulum, Reacher
+  multiplayer = False  # this class is used "as is" for InvertedPendulum, Reacher
+
 
 class World:
 
-	def __init__(self, bullet_client, gravity, timestep, frame_skip):
-		self._p = bullet_client
-		self.gravity = gravity
-		self.timestep = timestep
-		self.frame_skip = frame_skip
-		self.numSolverIterations = 5
-		self.clean_everything()
-		
-		
-	def clean_everything(self):
-		#p.resetSimulation()
-		self._p.setGravity(0, 0, -self.gravity)
-		self._p.setDefaultContactERP(0.9)
-		#print("self.numSolverIterations=",self.numSolverIterations)
-		self._p.setPhysicsEngineParameter(fixedTimeStep=self.timestep*self.frame_skip, numSolverIterations=self.numSolverIterations, numSubSteps=self.frame_skip)
-
-	def step(self, frame_skip):
-		self._p.stepSimulation()
+  def __init__(self, bullet_client, gravity, timestep, frame_skip):
+    self._p = bullet_client
+    self.gravity = gravity
+    self.timestep = timestep
+    self.frame_skip = frame_skip
+    self.numSolverIterations = 5
+    self.clean_everything()
 
+  def clean_everything(self):
+    #p.resetSimulation()
+    self._p.setGravity(0, 0, -self.gravity)
+    self._p.setDefaultContactERP(0.9)
+    #print("self.numSolverIterations=",self.numSolverIterations)
+    self._p.setPhysicsEngineParameter(fixedTimeStep=self.timestep * self.frame_skip,
+                                      numSolverIterations=self.numSolverIterations,
+                                      numSubSteps=self.frame_skip)
 
+  def step(self, frame_skip):
+    self._p.stepSimulation()