Python 3 compatibility and update headers to GPL

stephane-caron · Oct 16, 2019 · 5848443 · 5848443
1 parent 0f4c022
commit 5848443
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diff --git a/benchmark/run.py b/benchmark/run.py
@@ -7,17 +7,16 @@
 # <https://github.com/stephane-caron/3d-balance>.
 #
 # 3d-balance is free software: you can redistribute it and/or modify it under
-# the terms of the GNU Lesser General Public License as published by the Free
-# Software Foundation, either version 3 of the License, or (at your option) any
-# later version.
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation, either version 3 of the License, or (at your option) any later
+# version.
 #
 # 3d-balance is distributed in the hope that it will be useful, but WITHOUT ANY
 # WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
-# A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
-# details.
+# A PARTICULAR PURPOSE. See the GNU General Public License for more details.
 #
-# You should have received a copy of the GNU Lesser General Public License along
-# with 3d-balance. If not, see <http://www.gnu.org/licenses/>.
+# You should have received a copy of the GNU General Public License along with
+# 3d-balance. If not, see <http://www.gnu.org/licenses/>.
 
 import os
 import IPython
@@ -35,7 +34,7 @@
     script_path = os.path.realpath(__file__)
     sys.path = [os.path.dirname(script_path) + '/..'] + sys.path
     from punkah import InvertedPendulum, Stabilizer2D, Stabilizer3D
-except:  # this is to avoid warning E402 from Pylint
+except Exception:  # this is to avoid warning E402 from Pylint
     pass
 
 TOTAL_LAUNCHES = 100
@@ -76,7 +75,7 @@ def reset_state(scenario):
     sim = pymanoid.Simulation(dt=3e-2)
     try:  # use HRP4 if available
         robot = pymanoid.robots.HRP4()
-    except:  # otherwise use default model
+    except Exception:  # otherwise use default model
         robot = pymanoid.robots.JVRC1()
     robot.set_transparency(0.5)
     robot.suntan()
@@ -135,25 +134,25 @@ def reset_state(scenario):
                     error("Unfeasible state encountered during execution")
                     break
                 sim.step()
-                print "\n------------------------------------------\n"
-                print "Launch %d for %s" % (
-                    nb_launches + 1, type(stabilizer).__name__)
+                print("\n------------------------------------------\n")
+                print("Launch %d for %s" % (
+                    nb_launches + 1, type(stabilizer).__name__))
                 stabilizer.solver.print_debug_info()
         nb_2d_samples = len(stabilizer_2d.solver.solve_times)
         nb_3d_samples = len(stabilizer_3d.solver.solve_times)
         nb_samples = min(nb_2d_samples, nb_3d_samples)
         nb_launches += 1
 
-    print "Results"
-    print "-------"
+    print("Results")
+    print("-------")
     for stabilizer in [stabilizer_2d, stabilizer_3d]:
         msg = "Solve time:  %.1f +/- %.1f ms over %d samples, %d launches" % (
             1000 * average(stabilizer.solver.solve_times),
             1000 * std(stabilizer.solver.solve_times),
             len(stabilizer.solver.solve_times), nb_launches)
         name = type(stabilizer).__name__
-        print "%s: %s" % (name, msg)
-    print ""
+        print("%s: %s" % (name, msg))
+    print("")
 
     if IPython.get_ipython() is None:
         IPython.embed()
diff --git a/punkah/__init__.py b/punkah/__init__.py
@@ -7,17 +7,16 @@
 # <https://github.com/stephane-caron/3d-balance>.
 #
 # 3d-balance is free software: you can redistribute it and/or modify it under
-# the terms of the GNU Lesser General Public License as published by the Free
-# Software Foundation, either version 3 of the License, or (at your option) any
-# later version.
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation, either version 3 of the License, or (at your option) any later
+# version.
 #
 # 3d-balance is distributed in the hope that it will be useful, but WITHOUT ANY
 # WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
-# A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
-# details.
+# A PARTICULAR PURPOSE. See the GNU General Public License for more details.
 #
-# You should have received a copy of the GNU Lesser General Public License along
-# with 3d-balance. If not, see <http://www.gnu.org/licenses/>.
+# You should have received a copy of the GNU General Public License along with
+# 3d-balance. If not, see <http://www.gnu.org/licenses/>.
 
 from pendulum import InvertedPendulum
 from stabilize2d import Stabilizer2D

diff --git a/punkah/convex.py b/punkah/convex.py
@@ -7,17 +7,16 @@
 # <https://github.com/stephane-caron/3d-balance>.
 #
 # 3d-balance is free software: you can redistribute it and/or modify it under
-# the terms of the GNU Lesser General Public License as published by the Free
-# Software Foundation, either version 3 of the License, or (at your option) any
-# later version.
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation, either version 3 of the License, or (at your option) any later
+# version.
 #
 # 3d-balance is distributed in the hope that it will be useful, but WITHOUT ANY
 # WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
-# A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
-# details.
+# A PARTICULAR PURPOSE. See the GNU General Public License for more details.
 #
-# You should have received a copy of the GNU Lesser General Public License along
-# with 3d-balance. If not, see <http://www.gnu.org/licenses/>.
+# You should have received a copy of the GNU General Public License along with
+# 3d-balance. If not, see <http://www.gnu.org/licenses/>.
 
 from bisect import bisect_right
 from numpy import array, linspace, log, sqrt
@@ -40,9 +39,9 @@ class ConvexProblem(object):
     """
 
     def __init__(self, lambda_min, lambda_max, nb_steps):
-        s_list = [i * 1. / nb_steps for i in xrange(nb_steps)] + [1.]
+        s_list = [i * 1. / nb_steps for i in range(nb_steps)] + [1.]
         s_sq = [s ** 2 for s in s_list]
-        Delta = [s_sq[i + 1] - s_sq[i] for i in xrange(nb_steps)]
+        Delta = [s_sq[i + 1] - s_sq[i] for i in range(nb_steps)]
         self.Delta = Delta
         self.N = nb_steps
         self.Phi = None
@@ -72,7 +71,7 @@ def get_omega_i(self):
     def compute_lambda(self):
         lambda_ = [
             (self.Phi[i + 1] - self.Phi[i]) / self.Delta[i]
-            for i in xrange(self.N)]
+            for i in range(self.N)]
         lambda_ = array(lambda_ + [lambda_[-1]])
         self.lambda_ = lambda_
 
@@ -92,7 +91,8 @@ def lambda_from_s(self, s):
 
         Note
         ----
-        This function is not called by the stabilizer, but useful for debugging.
+        This function is not called by the stabilizer, but useful for
+        debugging.
         """
         i = bisect_right(self.s, s) - 1 if s > 0 else 0
         assert self.s[i] <= s and (i == self.N or s < self.s[i + 1])
@@ -114,7 +114,8 @@ def omega_from_s(self, s):
 
         Note
         ----
-        This function is not called by the stabilizer, but useful for debugging.
+        This function is not called by the stabilizer, but useful for
+        debugging.
         """
         if s < 1e-3:
             return sqrt(self.lambda_[0])
@@ -136,7 +137,7 @@ def compute_switch_times(self):
         """
         switch_times = [0.]
         switch_time = 0.
-        for i in xrange(self.N - 1, 0, -1):
+        for i in range(self.N - 1, 0, -1):
             num = sqrt(self.Phi[i + 1]) + sqrt(self.lambda_[i]) * self.s[i + 1]
             denom = sqrt(self.Phi[i]) + sqrt(self.lambda_[i]) * self.s[i]
             duration = log(num / denom) / sqrt(self.lambda_[i])
@@ -150,7 +151,7 @@ def compute_full_trajectory(self):
 
     def find_switch_time_before(self, t):
         """
-        Find a switch time :math:`t_i` such that :math:`t_i \leq t < t_{i+1}`.
+        Find a switch time :math:`t_i` such that :math:`t_i \\leq t < t_{i+1}`.
 
         Parameters
         ----------
@@ -236,7 +237,7 @@ def plot_s(self):
         from pylab import grid, legend, plot, step, xlabel, ylim
 
         def subsample(s):
-            s2 = [(s[i] + s[i + 1]) / 2. for i in xrange(len(s) - 1)]
+            s2 = [(s[i] + s[i + 1]) / 2. for i in range(len(s) - 1)]
             s2.extend(s)
             s2.sort()
             return s2

diff --git a/punkah/pendulum.py b/punkah/pendulum.py
@@ -7,17 +7,16 @@
 # <https://github.com/stephane-caron/3d-balance>.
 #
 # 3d-balance is free software: you can redistribute it and/or modify it under
-# the terms of the GNU Lesser General Public License as published by the Free
-# Software Foundation, either version 3 of the License, or (at your option) any
-# later version.
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation, either version 3 of the License, or (at your option) any later
+# version.
 #
 # 3d-balance is distributed in the hope that it will be useful, but WITHOUT ANY
 # WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
-# A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
-# details.
+# A PARTICULAR PURPOSE. See the GNU General Public License for more details.
 #
-# You should have received a copy of the GNU Lesser General Public License along
-# with 3d-balance. If not, see <http://www.gnu.org/licenses/>.
+# You should have received a copy of the GNU General Public License along with
+# 3d-balance. If not, see <http://www.gnu.org/licenses/>.
 
 import pymanoid
 
@@ -67,7 +66,8 @@ def target(self):
 
     def copy(self):
         return InvertedPendulum(
-            self.com.mass, self.com.p, self.com.pd, self.contact, self.z_target)
+            self.com.mass, self.com.p, self.com.pd, self.contact,
+            self.z_target)
 
     def hide(self):
         self.com.hide()
@@ -121,9 +121,6 @@ def draw(self, step=0.02):
         self.handles['parabola'] = draw_trajectory(parabola, pointsize=0)
 
     def integrate(self, duration):
-        if __debug__ and abs(dot(self.contact.n, self.cop)) > 1e-10:
-            self.cop = self.cop - dot(self.cop, self.contact.n) * self.contact.n
-            warn("CoP was offset from contact surface")
         omega = sqrt(self.lambda_)
         p0 = self.com.p
         pd0 = self.com.pd

diff --git a/punkah/stabilize.py b/punkah/stabilize.py
@@ -7,17 +7,16 @@
 # <https://github.com/stephane-caron/3d-balance>.
 #
 # 3d-balance is free software: you can redistribute it and/or modify it under
-# the terms of the GNU Lesser General Public License as published by the Free
-# Software Foundation, either version 3 of the License, or (at your option) any
-# later version.
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation, either version 3 of the License, or (at your option) any later
+# version.
 #
 # 3d-balance is distributed in the hope that it will be useful, but WITHOUT ANY
 # WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
-# A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
-# details.
+# A PARTICULAR PURPOSE. See the GNU General Public License for more details.
 #
-# You should have received a copy of the GNU Lesser General Public License along
-# with 3d-balance. If not, see <http://www.gnu.org/licenses/>.
+# You should have received a copy of the GNU General Public License along with
+# 3d-balance. If not, see <http://www.gnu.org/licenses/>.
 
 from numpy import array, cross, dot, vstack
 

diff --git a/punkah/stabilize2d.py b/punkah/stabilize2d.py
@@ -7,17 +7,16 @@
 # <https://github.com/stephane-caron/3d-balance>.
 #
 # 3d-balance is free software: you can redistribute it and/or modify it under
-# the terms of the GNU Lesser General Public License as published by the Free
-# Software Foundation, either version 3 of the License, or (at your option) any
-# later version.
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation, either version 3 of the License, or (at your option) any later
+# version.
 #
 # 3d-balance is distributed in the hope that it will be useful, but WITHOUT ANY
 # WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
-# A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
-# details.
+# A PARTICULAR PURPOSE. See the GNU General Public License for more details.
 #
-# You should have received a copy of the GNU Lesser General Public License along
-# with 3d-balance. If not, see <http://www.gnu.org/licenses/>.
+# You should have received a copy of the GNU General Public License along with
+# 3d-balance. If not, see <http://www.gnu.org/licenses/>.
 
 from casadi import sqrt as casadi_sqrt
 from numpy import array, sqrt
@@ -55,7 +54,7 @@ def compute_Phi(self):
         lambda_cost = 0.
         lambda_guess = self.omega_i ** 2
         lambda_prev = self.omega_f ** 2
-        for i in xrange(self.N):
+        for i in range(self.N):
             Phi_next = nlp.new_variable(
                 'Phi_%d' % (i + 1),  # from Phi_1 to Phi_N
                 dim=1,
@@ -117,32 +116,32 @@ def succ(a, b):
             return
         out_bc_integral = sum(self.Delta[i] / (
             sqrt(self.Phi[i + 1]) + sqrt(self.Phi[i]))
-            for i in xrange(self.N))
+            for i in range(self.N))
         out_omega_i = sqrt(self.Phi[self.N])
         out_omega_f = sqrt(self.Phi[1] / self.Delta[0])
         succ_omega_i = succ(self.omega_i, out_omega_i)
         succ_omega_f = succ(self.omega_f, out_omega_f)
         succ_bc_integral = succ(self.bc_integral, out_bc_integral)
-        print "Init. state: %.1f%%" % succ_omega_i
-        print "Limit state: %.1f%%" % succ_omega_f
-        print "Boundedness: %.1f%%" % succ_bc_integral
-        print "Avg. solve time:  %.1f +/- %.1f ms over %d samples" % (
+        print("Init. state: %.1f%%" % succ_omega_i)
+        print("Limit state: %.1f%%" % succ_omega_f)
+        print("Boundedness: %.1f%%" % succ_bc_integral)
+        print("Avg. solve time:  %.1f +/- %.1f ms over %d samples" % (
             1000 * average(self.solve_times), 1000 * std(self.solve_times),
-            len(self.solve_times))
+            len(self.solve_times)))
 
     def print_instance(self):
-        print "(zd_bar + omega_i * z_bar) / g = %f;" % self.bc_integral
-        print "Delta = %s;" % str(list(self.Delta))
-        print "g = %f;" % -gravity[2]
-        print "lambda_max = %f;" % self.lambda_max
-        print "lambda_min = %f;" % self.lambda_min
-        print "omega_i = %f;" % self.omega_i
-        print "s = %s;" % str(list(self.s))
-        print "z_f = %f;" % (-gravity[2] / self.omega_f ** 2)
+        print("(zd_bar + omega_i * z_bar) / g = %f;" % self.bc_integral)
+        print("Delta = %s;" % str(list(self.Delta)))
+        print("g = %f;" % -gravity[2])
+        print("lambda_max = %f;" % self.lambda_max)
+        print("lambda_min = %f;" % self.lambda_min)
+        print("omega_i = %f;" % self.omega_i)
+        print("s = %s;" % str(list(self.s)))
+        print("z_f = %f;" % (-gravity[2] / self.omega_f ** 2))
         if self.Phi is not None:
-            print ""
-            print "(solution)"
-            print "Phi = %s;" % str(list(self.Phi))
+            print("")
+            print("(solution)")
+            print("Phi = %s;" % str(list(self.Phi)))
 
 
 class Stabilizer2D(Stabilizer):
@@ -164,8 +163,8 @@ def z_crit(self, state):
         References
         ----------
         .. [Koolen2016] "Balance control using center of mass height variation:
-           Limitations imposed by unilateral contact", T. Koolen, M. Posa and R.
-           Tedrake, IEEE-RAS International Conference on Humanoid Robots,
+           Limitations imposed by unilateral contact", T. Koolen, M. Posa and
+           R. Tedrake, IEEE-RAS International Conference on Humanoid Robots,
            November 2016.
         """
         z, zd = state.z, state.zd
@@ -216,7 +215,7 @@ def draw_solution(self):
         virt_pendulum.hide()
         points = []
         max_time = solver.switch_times[-1] * 2
-        for i in xrange(solver.N):
+        for i in range(solver.N):
             t_i = solver.switch_times[i]
             t_next = solver.switch_times[i + 1] if i < N - 1 else max_time
             virt_pendulum.set_lambda(solver.lambda_[N - i - 1])