refactor to also be used in py3.5

README.md

@@ -5,24 +5,32 @@ This framework revolves mainly around 7 axes: simulators, worlds, robots, interf
 
 ## Requirements
 
-The framework has been tested with Python 2.7 and Ubuntu 16.04 and 18.04. We plan to migrate soon to Python 3.5.
+The framework has been tested with Python 2.7 and Ubuntu 16.04 and 18.04. We also tested parts of it with Python 3.5 on Ubuntu 16.04 and so far so good, but there might be some errors that escaped me.
 
 ## Installation
 
-1. First download the `pip` Python package manager and create a virtual environment for Python 2.7 as described in the following link: https://packaging.python.org/guides/installing-using-pip-and-virtualenv/
+1. First download the `pip` Python package manager and create a virtual environment for Python as described in the following link: https://packaging.python.org/guides/installing-using-pip-and-virtualenv/
 On Ubuntu, in the terminal, you can type to download and install `pip` and `virtualenv`: 
+
+- In Python 2.7:
 ```bash
 sudo apt install python-pip
 sudo pip install virtualenv
 ```
 
+- In Python 3.5:
+```bash
+sudo apt install python3-pip
+sudo pip install virtualenv
+```
+
 You can then create the virtual environment by typing:
 ```bash
-virtualenv -p /usr/bin/python2.7 <virtualenv_name>
+virtualenv -p /usr/bin/python<version> <virtualenv_name>
 # activate the virtual environment
 source <virtualenv_name>/bin/activate
 ```
-where `<virtualenv_name>` is a name of your choice for the virtual environment. For instance, it can be `py2.7`.
+where `<version>` is the python version you want to use (select between `2.7` or `3.5`), and `<virtualenv_name>` is a name of your choice for the virtual environment. For instance, it can be `py2.7` or `py3.7`.
 
 To deactivate the virtual environment, just type:
 ```bash
@@ -30,12 +38,29 @@ deactivate
 ```
 
 2. clone this repository and install the requirements and the setup.py
+
+In Python 2.7:
 ```bash
 git clone https://github.com/robotlearn/pyrobolearn
 cd pyrobolearn
 pip install numpy cython
-pip install http://github.com/cornellius-gp/gpytorch/archive/alpha.zip
-pip install -e .  # this will install pyrobolearn as well as all the required packages (so no need for: pip install -r requirements.txt)
+pip install http://github.com/cornellius-gp/gpytorch/archive/alpha.zip  # this is for Python 2.7
+pip install -e .  # this will install pyrobolearn as well as the required packages (so no need for: pip install -r requirements.txt)
+```
+
+In Python 3.5:
+```bash
+git clone https://github.com/robotlearn/pyrobolearn
+cd pyrobolearn
+pip install numpy cython
+pip install gpytorch  # this is for Python 3.5
+pip install -e .  # this will install pyrobolearn as well as the required packages (so no need for: pip install -r requirements.txt)
+```
+
+Depending on your computer configuration and the python version you use, you might need to install also the following packages through `apt-get`:
+```bash
+sudo apt-get install python-tk  # if python 2.7
+sudo apt-get install pytho3-tk  # if python 3.5
 ```
 
 ## How to use it?

pyrobolearn/__init__.py

@@ -2,41 +2,34 @@
 import sys
 
 # import simulators
-# from simulators import *
-import simulators
+from . import simulators
 
 # import robots
-# from robots import *
-import robots
+from . import robots
 
 # import worlds
-# from worlds import *
-import worlds
+from . import worlds
 
 # import states
-# from states import *
-import states
+from . import states
 
 # import actions
-# from actions import *
-import actions
+from . import actions
 
 # import rewards
-# from rewards import *
-import rewards
+from . import rewards
 
 # import environments
-# from envs import *
-import envs
+from . import envs
 
 # import models
-import models
+from . import models
 
 # import approximators
-import approximators
+from . import approximators
 
 # import policies
-import policies
+from . import policies
 
 # import values
 
@@ -45,18 +38,18 @@ import policies
 # import dynamical models
 
 # import tools (interfaces and bridges)
-# import tools
+# from . import tools  # uncommenting this will oblige the user to install a bunch of libraries which are not straightforward to install...
 
 # import tasks
-import tasks
+from . import tasks
 
 # import metrics
 
 # import optimizers
-# import optimizers
+# from . import optimizers
 
 # import algos
-import algos
+from . import algos
 
 # import experiments
 

pyrobolearn/actions/__init__.py

@@ -1,9 +1,9 @@
 
 # import action
-from action import Action
+from .action import Action
 
 # import robot actions
-from robot_actions import *
+from .robot_actions import *
 
 # import gym actions
-from gym_actions import *
+from .gym_actions import *

pyrobolearn/actions/gym_actions.py

@@ -8,7 +8,8 @@ the various policies defined in the pyrobolearn framework.
 """
 
 import gym
-from action import Action
+
+from pyrobolearn.actions.action import Action
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"

pyrobolearn/actions/robot_actions/__init__.py

@@ -1,9 +1,9 @@
 
 # import the basic robot actions
-from robot_actions import *
+from .robot_actions import *
 
 # import the joint actions
-from joint_actions import *
+from .joint_actions import *
 
 # import the link / end-effector actions
-from link_actions import *
+from .link_actions import *

pyrobolearn/actions/robot_actions/joint_actions.py

@@ -6,7 +6,8 @@ This includes notably the joint positions, velocities, and force/torque actions.
 
 import numpy as np
 from abc import ABCMeta
-from robot_actions import RobotAction
+
+from pyrobolearn.actions.robot_actions.robot_actions import RobotAction
 
 
 __author__ = "Brian Delhaisse"

pyrobolearn/actions/robot_actions/link_actions.py

@@ -5,7 +5,8 @@ This includes notably the link positions, velocities, and force/torque actions.
 """
 
 from abc import ABCMeta
-from robot_actions import RobotAction
+
+from pyrobolearn.actions.robot_actions.robot_actions import RobotAction
 
 
 __author__ = "Brian Delhaisse"

pyrobolearn/actions/robot_actions/robot_actions.py

@@ -9,8 +9,9 @@ Dependencies:
 """
 
 from abc import ABCMeta
-from pyrobolearn.actions import Action
-from pyrobolearn.robots import Robot
+
+from pyrobolearn.actions.action import Action
+from pyrobolearn.robots.robot import Robot
 
 
 __author__ = "Brian Delhaisse"

pyrobolearn/algos/__init__.py

@@ -3,22 +3,22 @@
 # from rl_algo import *
 
 # import CEM
-from cem import CEM
+from .cem import CEM
 
 # import CMAES
-from cmaes import CMAES
+from .cmaes import CMAES
 
 # import from NEAT
-from neat_algo import NEAT
+from .neat_algo import NEAT
 
 # import BO
-from bo import BO
+from .bo import BO
 
 # import FD
-from fd import FD
+from .fd import FD
 
 # import PoWER
-from power import PoWER
+from .power import PoWER
 
 # import REINFORCE
 # from reinforce import REINFORCE

pyrobolearn/algos/fd.py

@@ -9,7 +9,7 @@ import torch
 
 from pyrobolearn.envs import Env
 from pyrobolearn.tasks import RLTask
-# from rl_algo import GradientRLAlgo
+# from pyrobolearn.algos.rl_algo import GradientRLAlgo
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"

pyrobolearn/algos/neat_algo.py

@@ -8,17 +8,17 @@ works with neural networks and is thus tightly coupled with its associated polic
 
 import numpy as np
 
-from pyrobolearn.envs import Env
-from pyrobolearn.tasks import RLTask
-from pyrobolearn.policies import NEATPolicy
-# from rl_algo import RLAlgo
-
 try:
     import neat
     # from neat import nn, population, config, statistics
 except ImportError as e:
     raise ImportError(e.__str__() + "\n HINT: you can install NEAT directly via 'pip install neat-python'.")
 
+from pyrobolearn.envs import Env
+from pyrobolearn.tasks import RLTask
+from pyrobolearn.policies import NEATPolicy
+# from pyrobolearn.algos.rl_algo import RLAlgo
+
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"

pyrobolearn/algos/power.py

@@ -5,12 +5,12 @@ This Policy learning by Weighting Exploration with the Returns (PoWER) algorithm
 Expectation-Maximization (EM) algorithm. The exploration is carried out in the parameter space.
 """
 
+# import sys
 import numpy as np
-import sys
 
 from pyrobolearn.envs import Env
 from pyrobolearn.tasks import RLTask
-# from rl_algo import EMRLAlgo
+# from pyrobolearn.algos.rl_algo import EMRLAlgo
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"

pyrobolearn/approximators/__init__.py

@@ -1,3 +1,3 @@
 
 # import function approximators
-from approximator import *
+from .approximator import *

pyrobolearn/envs/__init__.py

@@ -1,9 +1,9 @@
 
 # import from envs
-from env import Env, BasicEnv
+from .env import Env, BasicEnv
 
 # define wrapper for the gym environment
-import gym_wrapper as gym
+from . import gym_wrapper as gym
 
 # import terminal conditions
-from terminating_condition import *
+from .terminating_condition import *

pyrobolearn/models/__init__.py

@@ -1,44 +1,44 @@
 
 # General model
-from model import Model
+from .model import Model
 
 # General Learning models #
 
 # Linear
-from linear import Linear
+from .linear import Linear
 
 # PCA
-from pca import PCA
+from .pca import PCA
 
 # Polynomial
-from polynomial import Polynomial, PolynomialFunction
+from .polynomial import Polynomial, PolynomialFunction
 
 # Gaussian
-from gaussian import Gaussian, MVN      # MVN is an alias
+from .gaussian import Gaussian, MVN      # MVN is an alias
 
 # GMM/GMR
-from gmm import GMM
+from .gmm import GMM
 
 # GP
-from gp import GPR
+from .gp import GPR
 
 # HMM
-# from hmm import *
+# from .hmm import *
 
 # DNN
-from nn import *
+from .nn import *
 
 
 # Learning model for trajectories (movement primitives) #
 
 # CPG
-from cpg import *
+from .cpg import *
 
 # DMP
-from dmp import *
+from .dmp import *
 
 # ProMP
-from promp import *
+from .promp import *
 
 # KMP
-from kmp import *
+from .kmp import *

pyrobolearn/models/gmm.py

@@ -15,7 +15,7 @@ from sklearn.cluster import KMeans
 from sklearn.mixture import GaussianMixture, BayesianGaussianMixture
 
 # from model import Model
-from gaussian import Gaussian
+from pyrobolearn.models.gaussian import Gaussian
 
 
 __author__ = "Brian Delhaisse"

pyrobolearn/models/kmp.py

@@ -9,8 +9,8 @@ import numpy as np
 from scipy.linalg import block_diag
 import copy
 
-# from model import Model
-from gmm import GMM, Gaussian
+# from pyrobolearn.models.model import Model
+from pyrobolearn.models.gmm import GMM, Gaussian
 
 
 __author__ = "Brian Delhaisse"

pyrobolearn/models/nn/__init__.py

@@ -1,24 +1,24 @@
 
 # import general neural network model
-from dnn import NN
+from .dnn import NN
 
 # import multilayer perceptron model
-from mlp import *
+from .mlp import *
 
 # import NEAT model
-from neat_model import NEATModel
+from .neat_model import NEATModel
 
 # import convolutional neural network
-# from cnn import *
+# from .cnn import *
 
 # import recurrent neural network
-# from rnn import *
+# from .rnn import *
 
 # import auto-encoder
-# from ae import *
+# from .ae import *
 
 # import variational auto-encoder
-# from vae import *
+# from .vae import *
 
 # import generative adversarial networks
-# from gan import *
+# from .gan import *

pyrobolearn/models/nn/mlp.py

@@ -22,7 +22,7 @@ import inspect
 import numpy as np
 import torch
 
-from dnn import NN, NNTorch
+from pyrobolearn.models.nn.dnn import NN, NNTorch
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"

pyrobolearn/models/nn/neat_model.py

@@ -7,7 +7,10 @@ this policy (i.e. the neural network) is tightly coupled with the algorithm that
 """
 
 import numpy as np
-import cPickle as pickle
+try:
+    import cPickle as pickle
+except ImportError as e:
+    import pickle
 
 try:
     import neat

pyrobolearn/models/promp.py

@@ -11,8 +11,8 @@ import numpy as np
 from scipy.linalg import block_diag
 import scipy.interpolate
 
-from model import Model
-from gaussian import Gaussian
+# from pyrobolearn.models.model import Model
+from pyrobolearn.models.gaussian import Gaussian
 
 
 __author__ = "Brian Delhaisse"

pyrobolearn/policies/__init__.py

@@ -1,18 +1,18 @@
 
 # import general policy
-from policy import Policy
+from .policy import Policy
 
 # import basic policies
-from basic_policy import *
+from .basic_policy import *
 
 # import nn policies
-from nn_policy import *
+from .nn_policy import *
 
 # import dmp policies
-from dmp_policy import *
+from .dmp_policy import *
 
 # import cpg policies
-from cpg_policy import *
+from .cpg_policy import *
 
 # import neat policies
-from neat_policy import *
+from .neat_policy import *

pyrobolearn/policies/basic_policy.py

@@ -5,7 +5,8 @@ Define the various basic policies such as the random policy, linear policy, poli
 """
 
 import numpy as np
-from policy import Policy
+
+from pyrobolearn.policies.policy import Policy
 from pyrobolearn.approximators import LinearApproximator
 
 

pyrobolearn/policies/cpg_policy.py

@@ -8,7 +8,7 @@ import numpy as np
 import torch
 
 from pyrobolearn.models import CPGNetwork
-from policy import Policy
+from pyrobolearn.policies.policy import Policy
 from pyrobolearn.states import State, PhaseState
 from pyrobolearn.actions import JointAction, Action
 

pyrobolearn/policies/dmp_policy.py

@@ -8,7 +8,7 @@ import numpy as np
 import torch
 
 from pyrobolearn.models import DMP, DiscreteDMP, RhythmicDMP, BioDiscreteDMP
-from policy import Policy
+from pyrobolearn.policies.policy import Policy
 from pyrobolearn.states import State
 from pyrobolearn.actions import Action, JointPositionAction, JointVelocityAction, JointAccelerationAction
 

pyrobolearn/policies/neat_policy.py

@@ -6,9 +6,11 @@ parameters/weights but also the topological structure of neural networks. Note t
 this policy (i.e. the neural network) is tightly coupled with the algorithm that modifies it.
 """
 
-
 import numpy as np
-import cPickle as pickle
+try:
+    import cPickle as pickle
+except ImportError as e:
+    import pickle
 
 try:
     # from neat import nn, population, config, statistics
@@ -16,7 +18,7 @@ try:
 except ImportError as e:
     raise ImportError(e.__str__() + "\n HINT: you can install NEAT directly via 'pip install neat-python'.")
 
-from policy import Policy
+from pyrobolearn.policies.policy import Policy
 from pyrobolearn.approximators import NEATApproximator
 
 

pyrobolearn/policies/nn_policy.py

@@ -5,7 +5,7 @@ Define the various neural network policies that can be used.
 """
 
 from pyrobolearn.approximators import NNApproximator, MLPApproximator
-from policy import Policy
+from pyrobolearn.policies.policy import Policy
 
 
 __author__ = "Brian Delhaisse"

pyrobolearn/recorders/__init__.py

@@ -1,3 +1,3 @@
 
 # import recorders
-from recorder import *
+from .recorder import *

pyrobolearn/rewards/__init__.py

@@ -1,3 +1,3 @@
 
 # import rewards
-from reward import *
+from .reward import *

pyrobolearn/rewards/cost.py

@@ -20,7 +20,7 @@ import numpy as np
 import torch
 
 # from objective import Objective
-from reward import Reward
+from pyrobolearn.rewards.reward import Reward
 
 
 # class Cost(Objective):

pyrobolearn/robots/__init__.py

@@ -5,113 +5,113 @@ import importlib
 import inspect
 
 # General robot class
-from base import Object, MovableObject, ControllableObject
-from actuators import *
-from sensors import *
-from robot import Robot
+from .base import Object, MovableObject, ControllableObject
+from .actuators import *
+from .sensors import *
+from .robot import Robot
 
 # Categories/types of robots
-from legged_robot import *
-from manipulator import *
-from wheeled_robot import *
-from uav import *
-from usv import *
-from uuv import *
-from hand import *
+from .legged_robot import *
+from .manipulator import *
+from .wheeled_robot import *
+from .uav import *
+from .usv import *
+from .uuv import *
+from .hand import *
 
 # Mujoco models
-from ant import Ant
-from hopper import Hopper
-from walker2d import Walker2D
-from half_cheetah import HalfCheetah
-from swimmer import Swimmer
-from humanoid import Humanoid
+from .ant import Ant
+from .hopper import Hopper
+from .walker2d import Walker2D
+from .half_cheetah import HalfCheetah
+from .swimmer import Swimmer
+from .humanoid import Humanoid
 
 # Quadruped
-from aibo import Aibo
-from minitaur import Minitaur
-from littledog import LittleDog
-# from anymal import ANYmal
-from hyq import HyQ
-from hyq2max import HyQ2Max
-from opendog import OpenDog
-from laikago import Laikago
+from .aibo import Aibo
+from .minitaur import Minitaur
+from .littledog import LittleDog
+# from .anymal import ANYmal
+from .hyq import HyQ
+from .hyq2max import HyQ2Max
+from .opendog import OpenDog
+from .laikago import Laikago
 
 # Biped
-from cassie import Cassie
+from .cassie import Cassie
 
 # Biped + Bi-manipulators
-from atlas import Atlas
-from nao import Nao
-from icub import ICub
-from coman import Coman
-from walkman import Walkman
-from cogimon import Cogimon
-from darwin import Darwin
-# from kondo import KHR3HV
-from hubo import Hubo
+from .atlas import Atlas
+from .nao import Nao
+from .icub import ICub
+from .coman import Coman
+from .walkman import Walkman
+from .cogimon import Cogimon
+from .darwin import Darwin
+# from .kondo import KHR3HV
+from .hubo import Hubo
 
 # Hexapod
-from crab import Crab
-from sea_hexapod import SEAHexapod
-from phantomx import PhantomX
-from morphex import Morphex
-from rhex import Rhex
+from .crab import Crab
+from .sea_hexapod import SEAHexapod
+from .phantomx import PhantomX
+from .morphex import Morphex
+from .rhex import Rhex
 
 # Manipulators
-from rrbot import RRBot
-from wam import WAM
-from kuka_lwr import KukaLWR
-from kuka_iiwa import KukaIIWA
-from jaco import Jaco
-from franka import Franka
-from sawyer import Sawyer
-from edo import Edo
-from kr5 import KR5
-from manipulator2d import Manipulator2D
+from .rrbot import RRBot
+from .wam import WAM
+from .kuka_lwr import KukaLWR
+from .kuka_iiwa import KukaIIWA
+from .jaco import Jaco
+from .franka import Franka
+from .sawyer import Sawyer
+from .edo import Edo
+from .kr5 import KR5
+from .manipulator2d import Manipulator2D
 
 # Bi-Manipulators
-from baxter import Baxter
+from .baxter import Baxter
 
 # Hands
-from allegrohand import AllegroHand
-from softhand import SoftHand
+from .allegrohand import AllegroHand
+from .softhand import SoftHand
 
 # Wheeled
-from epuck import Epuck
-from f10_racecar import F10Racecar
-from mkz import MKZ
-from husky import Husky
+from .epuck import Epuck
+from .f10_racecar import F10Racecar
+from .mkz import MKZ
+from .husky import Husky
 
 # Wheeled + (single) manipulator
-from fetch import Fetch
+from .fetch import Fetch
 
 # Wheeled + Bi-manipulators
-from pepper import Pepper
-from pr2 import PR2
+from .pepper import Pepper
+from .pr2 import PR2
 
 # Wheeled + Quadruped + Bi-manipulators
-from centauro import Centauro
+from .centauro import Centauro
 
 # UAV
-from quadcopter import Quadcopter
-# from techpod import Techpod
+from .quadcopter import Quadcopter
+# from .techpod import Techpod
 
 # UUV
-# from ecaa9 import ECAA9
+# from .ecaa9 import ECAA9
 
 # USV
 
 # Quadruped + UUV + USV
-from pleurobot import Pleurobot
+from .pleurobot import Pleurobot
 
 # Others
-from cartpole import CartPole
-from cubli import Cubli
-from sea_snake import SEASnake
-from bb8 import BB8
-from youbot import Youbot, YoubotBase, KukaYoubotArm, YoubotDualArm
-from ballbot import Ballbot
+from .cartpole import CartPole
+from .cubli import Cubli
+from .sea_snake import SEASnake
+from .bb8 import BB8
+from .youbot import Youbot, YoubotBase, KukaYoubotArm, YoubotDualArm
+from .ballbot import Ballbot
 
 # Robots #
 

pyrobolearn/robots/actuators/__init__.py

@@ -1,6 +1,6 @@
 
 # import basic actuator
-from actuator import Actuator
+from .actuator import Actuator
 
 # import joint actuators
-from joints import *
+from .joints import *

pyrobolearn/robots/actuators/joints.py

@@ -4,7 +4,7 @@
 
 import numpy as np
 
-from actuator import Actuator
+from pyrobolearn.robots.actuators.actuator import Actuator
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"

pyrobolearn/robots/aibo.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from legged_robot import QuadrupedRobot
+
+from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 
 class Aibo(QuadrupedRobot):

pyrobolearn/robots/allegrohand.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from hand import Hand
+
+from pyrobolearn.robots.hand import Hand
 
 
 # TODO: correct the inertia matrices and masses; they are too big!

pyrobolearn/robots/ant.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from legged_robot import QuadrupedRobot
+
+from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 
 class Ant(QuadrupedRobot):

pyrobolearn/robots/atlas.py

@@ -3,8 +3,9 @@
 """
 
 import os
-from legged_robot import BipedRobot
-from manipulator import BiManipulatorRobot
+
+from pyrobolearn.robots.legged_robot import BipedRobot
+from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 
 class Atlas(BipedRobot, BiManipulatorRobot):

pyrobolearn/robots/ballbot.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from robot import Robot
+
+from pyrobolearn.robots.robot import Robot
 
 
 # TODO inertia are not corrects

pyrobolearn/robots/baxter.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from manipulator import BiManipulatorRobot
+
+from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 
 class Baxter(BiManipulatorRobot):

pyrobolearn/robots/bb8.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from robot import Robot
+
+from pyrobolearn.robots.robot import Robot
 
 
 class BB8(Robot):

pyrobolearn/robots/blackbird.py

@@ -4,7 +4,8 @@
 
 import os
 import numpy as np
-from legged_robot import BipedRobot
+
+from pyrobolearn.robots.legged_robot import BipedRobot
 
 
 class Blackbird(BipedRobot):

pyrobolearn/robots/cartpole.py

@@ -8,7 +8,7 @@ import pybullet_data
 import sympy
 import sympy.physics.mechanics as mechanics
 
-from robot import Robot
+from pyrobolearn.robots.robot import Robot
 from pyrobolearn.utils.orientation import getSymbolicMatrixFromAxisAngle
 
 

pyrobolearn/robots/cassie.py

@@ -4,7 +4,8 @@
 
 import os
 import numpy as np
-from legged_robot import BipedRobot
+
+from pyrobolearn.robots.legged_robot import BipedRobot
 
 
 class Cassie(BipedRobot):

pyrobolearn/robots/centauro.py

@@ -5,9 +5,9 @@
 import os
 import numpy as np
 
-from legged_robot import QuadrupedRobot
-from wheeled_robot import WheeledRobot
-from manipulator import BiManipulatorRobot
+from pyrobolearn.robots.legged_robot import QuadrupedRobot
+from pyrobolearn.robots.wheeled_robot import WheeledRobot
+from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 
 class Centauro(WheeledRobot, QuadrupedRobot, BiManipulatorRobot):

pyrobolearn/robots/cogimon.py

@@ -3,8 +3,9 @@
 """
 
 import os
-from legged_robot import BipedRobot
-from manipulator import BiManipulatorRobot
+
+from pyrobolearn.robots.legged_robot import BipedRobot
+from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 
 class Cogimon(BipedRobot, BiManipulatorRobot):

pyrobolearn/robots/coman.py

@@ -5,8 +5,8 @@
 import os
 import numpy as np
 
-from legged_robot import BipedRobot
-from manipulator import BiManipulatorRobot
+from pyrobolearn.robots.legged_robot import BipedRobot
+from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 
 class Coman(BipedRobot, BiManipulatorRobot):

pyrobolearn/robots/crab.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from legged_robot import HexapodRobot
+
+from pyrobolearn.robots.legged_robot import HexapodRobot
 
 
 class Crab(HexapodRobot):

pyrobolearn/robots/cubli.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from robot import Robot
+
+from pyrobolearn.robots.robot import Robot
 
 
 class Cubli(Robot):

pyrobolearn/robots/darwin.py

@@ -5,8 +5,8 @@
 import os
 import numpy as np
 
-from legged_robot import BipedRobot
-from manipulator import BiManipulatorRobot
+from pyrobolearn.robots.legged_robot import BipedRobot
+from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 
 class Darwin(BipedRobot, BiManipulatorRobot):

pyrobolearn/robots/edo.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from manipulator import ManipulatorRobot
+
+from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 
 class Edo(ManipulatorRobot):

pyrobolearn/robots/epuck.py

@@ -4,7 +4,8 @@
 
 import os
 import numpy as np
-from wheeled_robot import DifferentialWheeledRobot
+
+from pyrobolearn.robots.wheeled_robot import DifferentialWheeledRobot
 
 
 class Epuck(DifferentialWheeledRobot):

pyrobolearn/robots/f10_racecar.py

@@ -4,7 +4,8 @@
 
 import os
 import numpy as np
-from wheeled_robot import AckermannWheeledRobot
+
+from pyrobolearn.robots.wheeled_robot import AckermannWheeledRobot
 
 
 class F10Racecar(AckermannWheeledRobot):

pyrobolearn/robots/fetch.py

@@ -3,8 +3,9 @@
 """
 
 import os
-from wheeled_robot import WheeledRobot
-from manipulator import ManipulatorRobot
+
+from pyrobolearn.robots.wheeled_robot import WheeledRobot
+from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 
 class Fetch(WheeledRobot, ManipulatorRobot):

pyrobolearn/robots/franka.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from manipulator import ManipulatorRobot
+
+from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 
 class Franka(ManipulatorRobot):

pyrobolearn/robots/half_cheetah.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from robot import Robot
+
+from pyrobolearn.robots.robot import Robot
 
 
 class HalfCheetah(Robot):

pyrobolearn/robots/hand.py

@@ -2,7 +2,7 @@
 """Provide the Hand abstract classes.
 """
 
-from robot import Robot
+from pyrobolearn.robots.robot import Robot
 
 
 class Hand(Robot):

pyrobolearn/robots/hopper.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from robot import Robot
+
+from pyrobolearn.robots.robot import Robot
 
 
 class Hopper(Robot):

pyrobolearn/robots/hubo.py

@@ -3,9 +3,10 @@
 """
 
 import os
-from legged_robot import BipedRobot
-from manipulator import BiManipulatorRobot
-from hand import TwoHand
+
+from pyrobolearn.robots.legged_robot import BipedRobot
+from pyrobolearn.robots.manipulator import BiManipulatorRobot
+from pyrobolearn.robots.hand import TwoHand
 
 
 class Hubo(BipedRobot, BiManipulatorRobot, TwoHand):

pyrobolearn/robots/humanoid.py

@@ -3,8 +3,9 @@
 """
 
 import os
-from legged_robot import BipedRobot
-from manipulator import BiManipulatorRobot
+
+from pyrobolearn.robots.legged_robot import BipedRobot
+from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 
 class Humanoid(BipedRobot, BiManipulatorRobot):

pyrobolearn/robots/husky.py

@@ -4,7 +4,8 @@
 
 import os
 import numpy as np
-from wheeled_robot import DifferentialWheeledRobot
+
+from pyrobolearn.robots.wheeled_robot import DifferentialWheeledRobot
 
 
 class Husky(DifferentialWheeledRobot):

pyrobolearn/robots/hyq.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from legged_robot import QuadrupedRobot
+
+from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 
 class HyQ(QuadrupedRobot):

pyrobolearn/robots/hyq2max.py

@@ -4,7 +4,8 @@
 
 import os
 import numpy as np
-from legged_robot import QuadrupedRobot
+
+from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 
 class HyQ2Max(QuadrupedRobot):

pyrobolearn/robots/icub.py

@@ -3,8 +3,9 @@
 """
 
 import os
-from legged_robot import BipedRobot
-from manipulator import BiManipulatorRobot
+
+from pyrobolearn.robots.legged_robot import BipedRobot
+from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 
 class ICub(BipedRobot, BiManipulatorRobot):

pyrobolearn/robots/jaco.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from manipulator import ManipulatorRobot
+
+from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 
 class Jaco(ManipulatorRobot):

pyrobolearn/robots/kr5.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from manipulator import ManipulatorRobot
+
+from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 
 class KR5(ManipulatorRobot):

pyrobolearn/robots/kuka_iiwa.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from manipulator import ManipulatorRobot
+
+from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 
 class KukaIIWA(ManipulatorRobot):

pyrobolearn/robots/kuka_lwr.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from manipulator import ManipulatorRobot
+
+from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 
 class KukaLWR(ManipulatorRobot):

pyrobolearn/robots/laikago.py

@@ -4,7 +4,8 @@
 
 import os
 import numpy as np
-from legged_robot import QuadrupedRobot
+
+from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 
 class Laikago(QuadrupedRobot):

pyrobolearn/robots/legged_robot.py

@@ -4,7 +4,8 @@
 
 import collections
 import numpy as np
-from robot import Robot
+
+from pyrobolearn.robots.robot import Robot
 
 
 class LeggedRobot(Robot):

pyrobolearn/robots/littledog.py

@@ -4,7 +4,8 @@
 
 import os
 import numpy as np
-from legged_robot import QuadrupedRobot
+
+from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 
 class LittleDog(QuadrupedRobot):

pyrobolearn/robots/manipulator.py

@@ -2,7 +2,7 @@
 """Provide the manipulator abstract classes.
 """
 
-from robot import Robot
+from pyrobolearn.robots.robot import Robot
 
 
 class ManipulatorRobot(Robot):

pyrobolearn/robots/manipulator2d.py

@@ -5,7 +5,7 @@
 import os
 import numpy as np
 
-from manipulator import ManipulatorRobot
+from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 
 class Manipulator2D(ManipulatorRobot):

pyrobolearn/robots/minitaur.py

@@ -5,7 +5,8 @@
 import os
 import collections
 import numpy as np
-from legged_robot import QuadrupedRobot
+
+from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 
 class Minitaur(QuadrupedRobot):

pyrobolearn/robots/mkz.py

@@ -4,7 +4,8 @@
 
 import os
 import numpy as np
-from wheeled_robot import AckermannWheeledRobot
+
+from pyrobolearn.robots.wheeled_robot import AckermannWheeledRobot
 
 
 class MKZ(AckermannWheeledRobot):

pyrobolearn/robots/morphex.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from legged_robot import HexapodRobot
+
+from pyrobolearn.robots.legged_robot import HexapodRobot
 
 
 class Morphex(HexapodRobot):

pyrobolearn/robots/nao.py

@@ -3,9 +3,10 @@
 """
 
 import os
-from legged_robot import BipedRobot
-from manipulator import BiManipulatorRobot
-from hand import TwoHand
+
+from pyrobolearn.robots.legged_robot import BipedRobot
+from pyrobolearn.robots.manipulator import BiManipulatorRobot
+from pyrobolearn.robots.hand import TwoHand
 
 
 class Nao(BipedRobot, BiManipulatorRobot, TwoHand):

pyrobolearn/robots/opendog.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from legged_robot import QuadrupedRobot
+
+from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 
 class OpenDog(QuadrupedRobot):

pyrobolearn/robots/pepper.py

@@ -3,10 +3,10 @@
 """
 
 import os
-from wheeled_robot import WheeledRobot
-from manipulator import BiManipulatorRobot
 
-from sensors import CameraSensor
+from pyrobolearn.robots.wheeled_robot import WheeledRobot
+from pyrobolearn.robots.manipulator import BiManipulatorRobot
+from pyrobolearn.robots.sensors.camera import CameraSensor
 
 
 class Pepper(WheeledRobot, BiManipulatorRobot):

pyrobolearn/robots/phantomx.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from legged_robot import HexapodRobot
+
+from pyrobolearn.robots.legged_robot import HexapodRobot
 
 
 class PhantomX(HexapodRobot):

pyrobolearn/robots/pleurobot.py

@@ -3,9 +3,10 @@
 """
 
 import os
-from legged_robot import QuadrupedRobot
-from uuv import UUVRobot
-from usv import USVRobot
+
+from pyrobolearn.robots.legged_robot import QuadrupedRobot
+from pyrobolearn.robots.uuv import UUVRobot
+from pyrobolearn.robots.usv import USVRobot
 
 
 class Pleurobot(QuadrupedRobot, UUVRobot, USVRobot):

pyrobolearn/robots/pr2.py

@@ -3,8 +3,9 @@
 """
 
 import os
-from wheeled_robot import WheeledRobot
-from manipulator import BiManipulatorRobot
+
+from pyrobolearn.robots.wheeled_robot import WheeledRobot
+from pyrobolearn.robots.manipulator import BiManipulatorRobot
 
 
 class PR2(WheeledRobot, BiManipulatorRobot):

pyrobolearn/robots/quadcopter.py

@@ -4,7 +4,8 @@
 
 import os
 import numpy as np
-from uav import RotaryWingUAV
+
+from pyrobolearn.robots.uav import RotaryWingUAV
 
 
 class Quadcopter(RotaryWingUAV):

pyrobolearn/robots/rhex.py

@@ -4,7 +4,8 @@
 
 import os
 import numpy as np
-from legged_robot import HexapodRobot
+
+from pyrobolearn.robots.legged_robot import HexapodRobot
 
 
 # TODO add inertial tags

pyrobolearn/robots/rrbot.py

@@ -4,7 +4,8 @@
 
 import os
 import numpy as np
-from manipulator import ManipulatorRobot
+
+from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 
 class RRBot(ManipulatorRobot):

pyrobolearn/robots/sawyer.py

@@ -3,8 +3,9 @@
 """
 
 import os
-from wheeled_robot import WheeledRobot
-from manipulator import ManipulatorRobot
+
+from pyrobolearn.robots.wheeled_robot import WheeledRobot
+from pyrobolearn.robots.manipulator import ManipulatorRobot
 
 
 class Sawyer(ManipulatorRobot, WheeledRobot):

pyrobolearn/robots/sea_hexapod.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from legged_robot import HexapodRobot
+
+from pyrobolearn.robots.legged_robot import HexapodRobot
 
 
 class SEAHexapod(HexapodRobot):

pyrobolearn/robots/sea_snake.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from robot import Robot
+
+from pyrobolearn.robots.robot import Robot
 
 
 class SEASnake(Robot):

pyrobolearn/robots/sensors/__init__.py

@@ -1,24 +1,24 @@
 
 # import basic sensor
-from sensor import Sensor
+from .sensor import Sensor
 
 # import joint + encoder sensors
-from joints import *
+from .joints import *
 
 # import link sensors
-from links import *
+from .links import *
 
 # import ft sensors
-from force_torque import *
+from .force_torque import *
 
 # import imu sensors
-from imu import *
+from .imu import *
 
 # import camera sensors
-from camera import *
+from .camera import *
 
 # import light / laser sensors
-from light import *
+from .light import *
 
 # import miscellaneous sensors
-from misc import *
+from .misc import *

pyrobolearn/robots/sensors/camera.py

@@ -6,7 +6,7 @@ Cameras have one of the most richest sensory inputs (i.e. visual).
 
 import numpy as np
 
-from links import LinkSensor
+from pyrobolearn.robots.sensors.links import LinkSensor
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"

pyrobolearn/robots/sensors/contact.py

@@ -2,7 +2,7 @@
 """Define contact sensors attached to a link.
 """
 
-from links import LinkSensor
+from pyrobolearn.robots.sensors.links import LinkSensor
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"

pyrobolearn/robots/sensors/force_torque.py

@@ -4,7 +4,7 @@
 
 import numpy as np
 
-from joints import JointSensor
+from pyrobolearn.robots.sensors.joints import JointSensor
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"

pyrobolearn/robots/sensors/imu.py

@@ -6,7 +6,7 @@ angular rate, and sometimes the magnetic field surroundings the body, using a co
 and gyroscopes, sometimes also magnetometers' (Wikipedia)
 """
 
-from links import LinkSensor
+from pyrobolearn.robots.sensors.links import LinkSensor
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"

pyrobolearn/robots/sensors/joints.py

@@ -6,7 +6,7 @@ This mainly include encoders.
 
 from abc import ABCMeta, abstractmethod
 
-from sensor import Sensor
+from pyrobolearn.robots.sensors.sensor import Sensor
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"

pyrobolearn/robots/sensors/light.py

@@ -4,7 +4,7 @@
 
 import numpy as np
 
-from links import LinkSensor
+from pyrobolearn.robots.sensors.links import LinkSensor
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"

pyrobolearn/robots/sensors/links.py

@@ -6,7 +6,7 @@ These include IMU, contact, Camera, and other sensors.
 
 from abc import ABCMeta, abstractmethod
 
-from sensor import Sensor
+from pyrobolearn.robots.sensors.sensor import Sensor
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"

pyrobolearn/robots/sensors/misc.py

@@ -2,7 +2,7 @@
 """Define miscellaneous sensors.
 """
 
-from links import Sensor, LinkSensor
+from pyrobolearn.robots.sensors.links import Sensor, LinkSensor
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"

pyrobolearn/robots/softhand.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from hand import Hand
+
+from pyrobolearn.robots.hand import Hand
 
 
 # TODO: correct the inertia matrices and masses; they are too big!

pyrobolearn/robots/swimmer.py

@@ -3,7 +3,8 @@
 """
 
 import os
-from robot import Robot
+
+from pyrobolearn.robots.robot import Robot
 
 
 class Swimmer(Robot):

pyrobolearn/robots/uav.py

@@ -2,7 +2,7 @@
 """Provide the Unmanned Aerial Vehicle (UAV) robot abstract classes.
 """
 
-from robot import Robot
+from pyrobolearn.robots.robot import Robot
 
 
 class UAVRobot(Robot):

pyrobolearn/robots/usv.py

@@ -2,7 +2,7 @@
 """Provide the Unmanned Surface Vehicle (USV) robot abstract classes.
 """
 
-from robot import Robot
+from pyrobolearn.robots.robot import Robot
 
 
 class USVRobot(Robot):