1 files changed, 32 insertions, 26 deletions
diff --git a/examples/pybullet/examples/testrender_egl.py b/examples/pybullet/examples/testrender_egl.py
index 0625a363a..3c9727b1a 100644
--- a/examples/pybullet/examples/testrender_egl.py
+++ b/examples/pybullet/examples/testrender_egl.py
@@ -15,27 +15,27 @@ plt.ion()
 
 img = np.random.rand(200, 320)
 #img = [tandard_normal((50,100))
-image = plt.imshow(img,interpolation='none',animated=True,label="blah")
+image = plt.imshow(img, interpolation='none', animated=True, label="blah")
 ax = plt.gca()
-    
+
 pybullet.connect(pybullet.DIRECT)
 
 egl = pkgutil.get_loader('eglRenderer')
 if (egl):
-	pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
+  pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
 else:
-	pybullet.loadPlugin("eglRendererPlugin")
-pybullet.loadURDF("plane.urdf",[0,0,-1])
+  pybullet.loadPlugin("eglRendererPlugin")
+pybullet.loadURDF("plane.urdf", [0, 0, -1])
 pybullet.loadURDF("r2d2.urdf")
 
-camTargetPos = [0,0,0]
-cameraUp = [0,0,1]
-cameraPos = [1,1,1]
-pybullet.setGravity(0,0,-10)
+camTargetPos = [0, 0, 0]
+cameraUp = [0, 0, 1]
+cameraPos = [1, 1, 1]
+pybullet.setGravity(0, 0, -10)
 
 pitch = -10.0
 
-roll=0
+roll = 0
 upAxisIndex = 2
 camDistance = 4
 pixelWidth = 320
@@ -47,30 +47,37 @@ fov = 60
 
 main_start = time.time()
 while (1):
-  for yaw in range (0,360,10):
+  for yaw in range(0, 360, 10):
     pybullet.stepSimulation()
     start = time.time()
-    
-    viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
-    aspect = pixelWidth / pixelHeight;
-    projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
-    img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,lightDirection=[1,1,1],renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
+
+    viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch,
+                                                            roll, upAxisIndex)
+    aspect = pixelWidth / pixelHeight
+    projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane)
+    img_arr = pybullet.getCameraImage(pixelWidth,
+                                      pixelHeight,
+                                      viewMatrix,
+                                      projectionMatrix,
+                                      shadow=1,
+                                      lightDirection=[1, 1, 1],
+                                      renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
     stop = time.time()
-    print ("renderImage %f" % (stop - start))
+    print("renderImage %f" % (stop - start))
 
-    w=img_arr[0] #width of the image, in pixels
-    h=img_arr[1] #height of the image, in pixels
-    rgb=img_arr[2] #color data RGB
-    dep=img_arr[3] #depth data
+    w = img_arr[0]  #width of the image, in pixels
+    h = img_arr[1]  #height of the image, in pixels
+    rgb = img_arr[2]  #color data RGB
+    dep = img_arr[3]  #depth data
 
-    print ('width = %d height = %d' % (w,h))
+    print('width = %d height = %d' % (w, h))
 
     #note that sending the data to matplotlib is really slow
 
     #reshape is not needed
     np_img_arr = np.reshape(rgb, (h, w, 4))
-    np_img_arr = np_img_arr*(1./255.)
-    
+    np_img_arr = np_img_arr * (1. / 255.)
+
     #show
     #plt.imshow(np_img_arr,interpolation='none',extent=(0,1600,0,1200))
     #image = plt.imshow(np_img_arr,interpolation='none',animated=True,label="blah")
@@ -81,10 +88,9 @@ while (1):
     #plt.show()
     plt.pause(0.01)
     #image.draw()
-    
 
 main_stop = time.time()
 
-print ("Total time %f" % (main_stop - main_start))
+print("Total time %f" % (main_stop - main_start))
 
 pybullet.resetSimulation()