From 8e10edbec5f72a9637820ababb92bcd4f60d7aea Mon Sep 17 00:00:00 2001 From: Brian Delhaisse Date: Thu, 21 Mar 2019 11:58:24 +0100 Subject: [PATCH] refactor to also be used in py3.5 --- README.md | 37 ++++- pyrobolearn/__init__.py | 35 ++--- pyrobolearn/actions/__init__.py | 6 +- pyrobolearn/actions/gym_actions.py | 3 +- pyrobolearn/actions/robot_actions/__init__.py | 6 +- .../actions/robot_actions/joint_actions.py | 3 +- .../actions/robot_actions/link_actions.py | 3 +- .../actions/robot_actions/robot_actions.py | 5 +- pyrobolearn/algos/__init__.py | 12 +- pyrobolearn/algos/fd.py | 2 +- pyrobolearn/algos/neat_algo.py | 10 +- pyrobolearn/algos/power.py | 4 +- pyrobolearn/approximators/__init__.py | 2 +- pyrobolearn/envs/__init__.py | 6 +- pyrobolearn/models/__init__.py | 26 ++-- pyrobolearn/models/gmm.py | 2 +- pyrobolearn/models/kmp.py | 4 +- pyrobolearn/models/nn/__init__.py | 16 +- pyrobolearn/models/nn/mlp.py | 2 +- pyrobolearn/models/nn/neat_model.py | 5 +- pyrobolearn/models/promp.py | 4 +- pyrobolearn/policies/__init__.py | 12 +- pyrobolearn/policies/basic_policy.py | 3 +- pyrobolearn/policies/cpg_policy.py | 2 +- pyrobolearn/policies/dmp_policy.py | 2 +- pyrobolearn/policies/neat_policy.py | 8 +- pyrobolearn/policies/nn_policy.py | 2 +- pyrobolearn/recorders/__init__.py | 2 +- pyrobolearn/rewards/__init__.py | 2 +- pyrobolearn/rewards/cost.py | 2 +- pyrobolearn/robots/__init__.py | 142 +++++++++--------- pyrobolearn/robots/actuators/__init__.py | 4 +- pyrobolearn/robots/actuators/joints.py | 2 +- pyrobolearn/robots/aibo.py | 3 +- pyrobolearn/robots/allegrohand.py | 3 +- pyrobolearn/robots/ant.py | 3 +- pyrobolearn/robots/atlas.py | 5 +- pyrobolearn/robots/ballbot.py | 3 +- pyrobolearn/robots/baxter.py | 3 +- pyrobolearn/robots/bb8.py | 3 +- pyrobolearn/robots/blackbird.py | 3 +- pyrobolearn/robots/cartpole.py | 2 +- pyrobolearn/robots/cassie.py | 3 +- pyrobolearn/robots/centauro.py | 6 +- pyrobolearn/robots/cogimon.py | 5 +- pyrobolearn/robots/coman.py | 4 +- pyrobolearn/robots/crab.py | 3 +- pyrobolearn/robots/cubli.py | 3 +- pyrobolearn/robots/darwin.py | 4 +- pyrobolearn/robots/edo.py | 3 +- pyrobolearn/robots/epuck.py | 3 +- pyrobolearn/robots/f10_racecar.py | 3 +- pyrobolearn/robots/fetch.py | 5 +- pyrobolearn/robots/franka.py | 3 +- pyrobolearn/robots/half_cheetah.py | 3 +- pyrobolearn/robots/hand.py | 2 +- pyrobolearn/robots/hopper.py | 3 +- pyrobolearn/robots/hubo.py | 7 +- pyrobolearn/robots/humanoid.py | 5 +- pyrobolearn/robots/husky.py | 3 +- pyrobolearn/robots/hyq.py | 3 +- pyrobolearn/robots/hyq2max.py | 3 +- pyrobolearn/robots/icub.py | 5 +- pyrobolearn/robots/jaco.py | 3 +- pyrobolearn/robots/kr5.py | 3 +- pyrobolearn/robots/kuka_iiwa.py | 3 +- pyrobolearn/robots/kuka_lwr.py | 3 +- pyrobolearn/robots/laikago.py | 3 +- pyrobolearn/robots/legged_robot.py | 3 +- pyrobolearn/robots/littledog.py | 3 +- pyrobolearn/robots/manipulator.py | 2 +- pyrobolearn/robots/manipulator2d.py | 2 +- pyrobolearn/robots/minitaur.py | 3 +- pyrobolearn/robots/mkz.py | 3 +- pyrobolearn/robots/morphex.py | 3 +- pyrobolearn/robots/nao.py | 7 +- pyrobolearn/robots/opendog.py | 3 +- pyrobolearn/robots/pepper.py | 6 +- pyrobolearn/robots/phantomx.py | 3 +- pyrobolearn/robots/pleurobot.py | 7 +- pyrobolearn/robots/pr2.py | 5 +- pyrobolearn/robots/quadcopter.py | 3 +- pyrobolearn/robots/rhex.py | 3 +- pyrobolearn/robots/rrbot.py | 3 +- pyrobolearn/robots/sawyer.py | 5 +- pyrobolearn/robots/sea_hexapod.py | 3 +- pyrobolearn/robots/sea_snake.py | 3 +- pyrobolearn/robots/sensors/__init__.py | 16 +- pyrobolearn/robots/sensors/camera.py | 2 +- pyrobolearn/robots/sensors/contact.py | 2 +- pyrobolearn/robots/sensors/force_torque.py | 2 +- pyrobolearn/robots/sensors/imu.py | 2 +- pyrobolearn/robots/sensors/joints.py | 2 +- pyrobolearn/robots/sensors/light.py | 2 +- pyrobolearn/robots/sensors/links.py | 2 +- pyrobolearn/robots/sensors/misc.py | 2 +- pyrobolearn/robots/softhand.py | 3 +- pyrobolearn/robots/swimmer.py | 3 +- pyrobolearn/robots/uav.py | 2 +- pyrobolearn/robots/usv.py | 2 +- pyrobolearn/robots/uuv.py | 2 +- pyrobolearn/robots/walker2d.py | 3 +- pyrobolearn/robots/walkman.py | 7 +- pyrobolearn/robots/wam.py | 3 +- pyrobolearn/robots/wheeled_robot.py | 3 +- pyrobolearn/robots/youbot.py | 4 +- pyrobolearn/simulators/__init__.py | 2 +- pyrobolearn/states/__init__.py | 12 +- pyrobolearn/states/basic_states.py | 5 +- pyrobolearn/states/gym_states.py | 3 +- pyrobolearn/states/object_states.py | 5 +- pyrobolearn/states/robot_states/__init__.py | 8 +- .../states/robot_states/joint_states.py | 3 +- .../states/robot_states/link_states.py | 3 +- .../states/robot_states/robot_states.py | 1 + .../states/robot_states/sensor_states.py | 3 +- pyrobolearn/states/time_states.py | 3 +- pyrobolearn/tasks/__init__.py | 14 +- pyrobolearn/tasks/active.py | 2 +- pyrobolearn/tasks/curriculum.py | 3 +- pyrobolearn/tasks/imitation.py | 2 +- pyrobolearn/tasks/inverse_reinforcement.py | 2 +- pyrobolearn/tasks/misc.py | 2 +- pyrobolearn/tasks/reinforcement.py | 5 +- pyrobolearn/tasks/scheduler.py | 2 +- pyrobolearn/tasks/transfer.py | 2 +- pyrobolearn/tools/bridges/__init__.py | 4 +- .../tools/bridges/mouse_keyboard/__init__.py | 4 +- .../bridge_mousekeyboard_imitation_task.py | 2 +- pyrobolearn/tools/interfaces/__init__.py | 4 +- .../interfaces/mouse_keyboard/__init__.py | 2 +- pyrobolearn/utils/data_structures/__init__.py | 4 +- pyrobolearn/utils/orientation.py | 2 +- pyrobolearn/worlds/__init__.py | 2 +- 134 files changed, 414 insertions(+), 324 deletions(-) diff --git a/README.md b/README.md index ef09d82..8dc46cc 100644 --- a/README.md +++ b/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 -p /usr/bin/python # activate the virtual environment source /bin/activate ``` -where `` is a name of your choice for the virtual environment. For instance, it can be `py2.7`. +where `` is the python version you want to use (select between `2.7` or `3.5`), and `` 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? diff --git a/pyrobolearn/__init__.py b/pyrobolearn/__init__.py index 5c57893..398478c 100644 --- a/pyrobolearn/__init__.py +++ b/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 diff --git a/pyrobolearn/actions/__init__.py b/pyrobolearn/actions/__init__.py index 0a24cd7..29cb20f 100644 --- a/pyrobolearn/actions/__init__.py +++ b/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 * diff --git a/pyrobolearn/actions/gym_actions.py b/pyrobolearn/actions/gym_actions.py index b018823..db7b9ff 100644 --- a/pyrobolearn/actions/gym_actions.py +++ b/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" diff --git a/pyrobolearn/actions/robot_actions/__init__.py b/pyrobolearn/actions/robot_actions/__init__.py index 16dc67b..3a13c7b 100644 --- a/pyrobolearn/actions/robot_actions/__init__.py +++ b/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 * diff --git a/pyrobolearn/actions/robot_actions/joint_actions.py b/pyrobolearn/actions/robot_actions/joint_actions.py index c91d556..7d7c683 100644 --- a/pyrobolearn/actions/robot_actions/joint_actions.py +++ b/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" diff --git a/pyrobolearn/actions/robot_actions/link_actions.py b/pyrobolearn/actions/robot_actions/link_actions.py index ae96560..0a96468 100644 --- a/pyrobolearn/actions/robot_actions/link_actions.py +++ b/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" diff --git a/pyrobolearn/actions/robot_actions/robot_actions.py b/pyrobolearn/actions/robot_actions/robot_actions.py index 9024dc3..baf44e7 100644 --- a/pyrobolearn/actions/robot_actions/robot_actions.py +++ b/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" diff --git a/pyrobolearn/algos/__init__.py b/pyrobolearn/algos/__init__.py index 6dd7eb0..ac29cbd 100644 --- a/pyrobolearn/algos/__init__.py +++ b/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 diff --git a/pyrobolearn/algos/fd.py b/pyrobolearn/algos/fd.py index 4992bfb..9c0e67d 100755 --- a/pyrobolearn/algos/fd.py +++ b/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" diff --git a/pyrobolearn/algos/neat_algo.py b/pyrobolearn/algos/neat_algo.py index 0688811..d4aaec7 100755 --- a/pyrobolearn/algos/neat_algo.py +++ b/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" diff --git a/pyrobolearn/algos/power.py b/pyrobolearn/algos/power.py index 0aba55e..71f543f 100755 --- a/pyrobolearn/algos/power.py +++ b/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" diff --git a/pyrobolearn/approximators/__init__.py b/pyrobolearn/approximators/__init__.py index e15b743..83c8ec5 100644 --- a/pyrobolearn/approximators/__init__.py +++ b/pyrobolearn/approximators/__init__.py @@ -1,3 +1,3 @@ # import function approximators -from approximator import * +from .approximator import * diff --git a/pyrobolearn/envs/__init__.py b/pyrobolearn/envs/__init__.py index 9ddb737..230aa24 100644 --- a/pyrobolearn/envs/__init__.py +++ b/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 * diff --git a/pyrobolearn/models/__init__.py b/pyrobolearn/models/__init__.py index 7d3eb59..255ae1e 100644 --- a/pyrobolearn/models/__init__.py +++ b/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 * diff --git a/pyrobolearn/models/gmm.py b/pyrobolearn/models/gmm.py index 1ef9202..6dd0c7a 100755 --- a/pyrobolearn/models/gmm.py +++ b/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" diff --git a/pyrobolearn/models/kmp.py b/pyrobolearn/models/kmp.py index 354c7bd..f67bdc4 100644 --- a/pyrobolearn/models/kmp.py +++ b/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" diff --git a/pyrobolearn/models/nn/__init__.py b/pyrobolearn/models/nn/__init__.py index ebd2eff..d6a2716 100644 --- a/pyrobolearn/models/nn/__init__.py +++ b/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 * diff --git a/pyrobolearn/models/nn/mlp.py b/pyrobolearn/models/nn/mlp.py index fdea93d..8221619 100644 --- a/pyrobolearn/models/nn/mlp.py +++ b/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" diff --git a/pyrobolearn/models/nn/neat_model.py b/pyrobolearn/models/nn/neat_model.py index 5959cd4..1fd998d 100644 --- a/pyrobolearn/models/nn/neat_model.py +++ b/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 diff --git a/pyrobolearn/models/promp.py b/pyrobolearn/models/promp.py index 73d6981..b129d49 100755 --- a/pyrobolearn/models/promp.py +++ b/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" diff --git a/pyrobolearn/policies/__init__.py b/pyrobolearn/policies/__init__.py index 26ed159..8c54151 100644 --- a/pyrobolearn/policies/__init__.py +++ b/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 * diff --git a/pyrobolearn/policies/basic_policy.py b/pyrobolearn/policies/basic_policy.py index 965acb5..31ad49a 100644 --- a/pyrobolearn/policies/basic_policy.py +++ b/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 diff --git a/pyrobolearn/policies/cpg_policy.py b/pyrobolearn/policies/cpg_policy.py index fa89957..dfdf902 100644 --- a/pyrobolearn/policies/cpg_policy.py +++ b/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 diff --git a/pyrobolearn/policies/dmp_policy.py b/pyrobolearn/policies/dmp_policy.py index 7c4484f..3a5868d 100644 --- a/pyrobolearn/policies/dmp_policy.py +++ b/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 diff --git a/pyrobolearn/policies/neat_policy.py b/pyrobolearn/policies/neat_policy.py index 5b90e6d..58abe8c 100644 --- a/pyrobolearn/policies/neat_policy.py +++ b/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 diff --git a/pyrobolearn/policies/nn_policy.py b/pyrobolearn/policies/nn_policy.py index 7ad1a31..8042ed9 100644 --- a/pyrobolearn/policies/nn_policy.py +++ b/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" diff --git a/pyrobolearn/recorders/__init__.py b/pyrobolearn/recorders/__init__.py index ff44ceb..facbf3d 100644 --- a/pyrobolearn/recorders/__init__.py +++ b/pyrobolearn/recorders/__init__.py @@ -1,3 +1,3 @@ # import recorders -from recorder import * +from .recorder import * diff --git a/pyrobolearn/rewards/__init__.py b/pyrobolearn/rewards/__init__.py index a1f77f4..8f0b5cf 100644 --- a/pyrobolearn/rewards/__init__.py +++ b/pyrobolearn/rewards/__init__.py @@ -1,3 +1,3 @@ # import rewards -from reward import * +from .reward import * diff --git a/pyrobolearn/rewards/cost.py b/pyrobolearn/rewards/cost.py index e681351..2534183 100644 --- a/pyrobolearn/rewards/cost.py +++ b/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): diff --git a/pyrobolearn/robots/__init__.py b/pyrobolearn/robots/__init__.py index 2953d9b..90c9e6d 100644 --- a/pyrobolearn/robots/__init__.py +++ b/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 # diff --git a/pyrobolearn/robots/actuators/__init__.py b/pyrobolearn/robots/actuators/__init__.py index 31acfd8..aea9b74 100644 --- a/pyrobolearn/robots/actuators/__init__.py +++ b/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 * diff --git a/pyrobolearn/robots/actuators/joints.py b/pyrobolearn/robots/actuators/joints.py index b47646f..68f0bbc 100644 --- a/pyrobolearn/robots/actuators/joints.py +++ b/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" diff --git a/pyrobolearn/robots/aibo.py b/pyrobolearn/robots/aibo.py index 238b5f6..1158320 100644 --- a/pyrobolearn/robots/aibo.py +++ b/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): diff --git a/pyrobolearn/robots/allegrohand.py b/pyrobolearn/robots/allegrohand.py index 60b84cf..7b8a186 100644 --- a/pyrobolearn/robots/allegrohand.py +++ b/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! diff --git a/pyrobolearn/robots/ant.py b/pyrobolearn/robots/ant.py index abf52eb..c8005a8 100644 --- a/pyrobolearn/robots/ant.py +++ b/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): diff --git a/pyrobolearn/robots/atlas.py b/pyrobolearn/robots/atlas.py index e503048..f952a41 100644 --- a/pyrobolearn/robots/atlas.py +++ b/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): diff --git a/pyrobolearn/robots/ballbot.py b/pyrobolearn/robots/ballbot.py index a3f824e..495c1c9 100644 --- a/pyrobolearn/robots/ballbot.py +++ b/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 diff --git a/pyrobolearn/robots/baxter.py b/pyrobolearn/robots/baxter.py index ab4ded3..fc75505 100644 --- a/pyrobolearn/robots/baxter.py +++ b/pyrobolearn/robots/baxter.py @@ -3,7 +3,8 @@ """ import os -from manipulator import BiManipulatorRobot + +from pyrobolearn.robots.manipulator import BiManipulatorRobot class Baxter(BiManipulatorRobot): diff --git a/pyrobolearn/robots/bb8.py b/pyrobolearn/robots/bb8.py index 9170283..8f9623d 100644 --- a/pyrobolearn/robots/bb8.py +++ b/pyrobolearn/robots/bb8.py @@ -3,7 +3,8 @@ """ import os -from robot import Robot + +from pyrobolearn.robots.robot import Robot class BB8(Robot): diff --git a/pyrobolearn/robots/blackbird.py b/pyrobolearn/robots/blackbird.py index a4ea7b1..8d88941 100644 --- a/pyrobolearn/robots/blackbird.py +++ b/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): diff --git a/pyrobolearn/robots/cartpole.py b/pyrobolearn/robots/cartpole.py index 9464c96..ee884d4 100644 --- a/pyrobolearn/robots/cartpole.py +++ b/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 diff --git a/pyrobolearn/robots/cassie.py b/pyrobolearn/robots/cassie.py index 383c757..33e6149 100644 --- a/pyrobolearn/robots/cassie.py +++ b/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): diff --git a/pyrobolearn/robots/centauro.py b/pyrobolearn/robots/centauro.py index f4b7b1e..3cea57e 100644 --- a/pyrobolearn/robots/centauro.py +++ b/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): diff --git a/pyrobolearn/robots/cogimon.py b/pyrobolearn/robots/cogimon.py index b6639a2..1ad519f 100644 --- a/pyrobolearn/robots/cogimon.py +++ b/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): diff --git a/pyrobolearn/robots/coman.py b/pyrobolearn/robots/coman.py index 2f89300..d9693d1 100644 --- a/pyrobolearn/robots/coman.py +++ b/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): diff --git a/pyrobolearn/robots/crab.py b/pyrobolearn/robots/crab.py index 8beca25..148b609 100644 --- a/pyrobolearn/robots/crab.py +++ b/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): diff --git a/pyrobolearn/robots/cubli.py b/pyrobolearn/robots/cubli.py index 7dc0b30..a5f8a29 100644 --- a/pyrobolearn/robots/cubli.py +++ b/pyrobolearn/robots/cubli.py @@ -3,7 +3,8 @@ """ import os -from robot import Robot + +from pyrobolearn.robots.robot import Robot class Cubli(Robot): diff --git a/pyrobolearn/robots/darwin.py b/pyrobolearn/robots/darwin.py index a897a6e..694c957 100644 --- a/pyrobolearn/robots/darwin.py +++ b/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): diff --git a/pyrobolearn/robots/edo.py b/pyrobolearn/robots/edo.py index 3ce88f3..65d8372 100644 --- a/pyrobolearn/robots/edo.py +++ b/pyrobolearn/robots/edo.py @@ -3,7 +3,8 @@ """ import os -from manipulator import ManipulatorRobot + +from pyrobolearn.robots.manipulator import ManipulatorRobot class Edo(ManipulatorRobot): diff --git a/pyrobolearn/robots/epuck.py b/pyrobolearn/robots/epuck.py index 06d1b97..9cc8dbe 100644 --- a/pyrobolearn/robots/epuck.py +++ b/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): diff --git a/pyrobolearn/robots/f10_racecar.py b/pyrobolearn/robots/f10_racecar.py index af0f734..7e69708 100644 --- a/pyrobolearn/robots/f10_racecar.py +++ b/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): diff --git a/pyrobolearn/robots/fetch.py b/pyrobolearn/robots/fetch.py index c65162c..ac3cee5 100644 --- a/pyrobolearn/robots/fetch.py +++ b/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): diff --git a/pyrobolearn/robots/franka.py b/pyrobolearn/robots/franka.py index 2159c54..c6cd37c 100644 --- a/pyrobolearn/robots/franka.py +++ b/pyrobolearn/robots/franka.py @@ -3,7 +3,8 @@ """ import os -from manipulator import ManipulatorRobot + +from pyrobolearn.robots.manipulator import ManipulatorRobot class Franka(ManipulatorRobot): diff --git a/pyrobolearn/robots/half_cheetah.py b/pyrobolearn/robots/half_cheetah.py index 0f24a1d..0b02621 100644 --- a/pyrobolearn/robots/half_cheetah.py +++ b/pyrobolearn/robots/half_cheetah.py @@ -3,7 +3,8 @@ """ import os -from robot import Robot + +from pyrobolearn.robots.robot import Robot class HalfCheetah(Robot): diff --git a/pyrobolearn/robots/hand.py b/pyrobolearn/robots/hand.py index e812dd6..b8d0893 100644 --- a/pyrobolearn/robots/hand.py +++ b/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): diff --git a/pyrobolearn/robots/hopper.py b/pyrobolearn/robots/hopper.py index 17bbae3..c7a05a4 100644 --- a/pyrobolearn/robots/hopper.py +++ b/pyrobolearn/robots/hopper.py @@ -3,7 +3,8 @@ """ import os -from robot import Robot + +from pyrobolearn.robots.robot import Robot class Hopper(Robot): diff --git a/pyrobolearn/robots/hubo.py b/pyrobolearn/robots/hubo.py index 1bd5c53..8cc3426 100644 --- a/pyrobolearn/robots/hubo.py +++ b/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): diff --git a/pyrobolearn/robots/humanoid.py b/pyrobolearn/robots/humanoid.py index 21ffc7b..ce9de86 100644 --- a/pyrobolearn/robots/humanoid.py +++ b/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): diff --git a/pyrobolearn/robots/husky.py b/pyrobolearn/robots/husky.py index 60479c3..cfac8a9 100644 --- a/pyrobolearn/robots/husky.py +++ b/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): diff --git a/pyrobolearn/robots/hyq.py b/pyrobolearn/robots/hyq.py index 1d675ae..ca02720 100644 --- a/pyrobolearn/robots/hyq.py +++ b/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): diff --git a/pyrobolearn/robots/hyq2max.py b/pyrobolearn/robots/hyq2max.py index 089c990..0fbc4dd 100644 --- a/pyrobolearn/robots/hyq2max.py +++ b/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): diff --git a/pyrobolearn/robots/icub.py b/pyrobolearn/robots/icub.py index b736a16..876b3c4 100644 --- a/pyrobolearn/robots/icub.py +++ b/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): diff --git a/pyrobolearn/robots/jaco.py b/pyrobolearn/robots/jaco.py index 77b7746..e32b6f8 100644 --- a/pyrobolearn/robots/jaco.py +++ b/pyrobolearn/robots/jaco.py @@ -3,7 +3,8 @@ """ import os -from manipulator import ManipulatorRobot + +from pyrobolearn.robots.manipulator import ManipulatorRobot class Jaco(ManipulatorRobot): diff --git a/pyrobolearn/robots/kr5.py b/pyrobolearn/robots/kr5.py index 8d4c147..c45d6aa 100644 --- a/pyrobolearn/robots/kr5.py +++ b/pyrobolearn/robots/kr5.py @@ -3,7 +3,8 @@ """ import os -from manipulator import ManipulatorRobot + +from pyrobolearn.robots.manipulator import ManipulatorRobot class KR5(ManipulatorRobot): diff --git a/pyrobolearn/robots/kuka_iiwa.py b/pyrobolearn/robots/kuka_iiwa.py index b2f23d4..34ef55d 100644 --- a/pyrobolearn/robots/kuka_iiwa.py +++ b/pyrobolearn/robots/kuka_iiwa.py @@ -3,7 +3,8 @@ """ import os -from manipulator import ManipulatorRobot + +from pyrobolearn.robots.manipulator import ManipulatorRobot class KukaIIWA(ManipulatorRobot): diff --git a/pyrobolearn/robots/kuka_lwr.py b/pyrobolearn/robots/kuka_lwr.py index 879bd49..2e1bd48 100644 --- a/pyrobolearn/robots/kuka_lwr.py +++ b/pyrobolearn/robots/kuka_lwr.py @@ -3,7 +3,8 @@ """ import os -from manipulator import ManipulatorRobot + +from pyrobolearn.robots.manipulator import ManipulatorRobot class KukaLWR(ManipulatorRobot): diff --git a/pyrobolearn/robots/laikago.py b/pyrobolearn/robots/laikago.py index 2215542..13e053d 100644 --- a/pyrobolearn/robots/laikago.py +++ b/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): diff --git a/pyrobolearn/robots/legged_robot.py b/pyrobolearn/robots/legged_robot.py index 0043fa7..dbab864 100644 --- a/pyrobolearn/robots/legged_robot.py +++ b/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): diff --git a/pyrobolearn/robots/littledog.py b/pyrobolearn/robots/littledog.py index 8587387..769d8d7 100644 --- a/pyrobolearn/robots/littledog.py +++ b/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): diff --git a/pyrobolearn/robots/manipulator.py b/pyrobolearn/robots/manipulator.py index 5d38733..8932a5f 100644 --- a/pyrobolearn/robots/manipulator.py +++ b/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): diff --git a/pyrobolearn/robots/manipulator2d.py b/pyrobolearn/robots/manipulator2d.py index 0f848b1..6d4d1ef 100644 --- a/pyrobolearn/robots/manipulator2d.py +++ b/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): diff --git a/pyrobolearn/robots/minitaur.py b/pyrobolearn/robots/minitaur.py index 63213ab..4956830 100644 --- a/pyrobolearn/robots/minitaur.py +++ b/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): diff --git a/pyrobolearn/robots/mkz.py b/pyrobolearn/robots/mkz.py index 756ee93..fae1a08 100644 --- a/pyrobolearn/robots/mkz.py +++ b/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): diff --git a/pyrobolearn/robots/morphex.py b/pyrobolearn/robots/morphex.py index 18a51eb..ba7139b 100644 --- a/pyrobolearn/robots/morphex.py +++ b/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): diff --git a/pyrobolearn/robots/nao.py b/pyrobolearn/robots/nao.py index 193da7b..6278627 100644 --- a/pyrobolearn/robots/nao.py +++ b/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): diff --git a/pyrobolearn/robots/opendog.py b/pyrobolearn/robots/opendog.py index bc21f6e..06835ec 100644 --- a/pyrobolearn/robots/opendog.py +++ b/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): diff --git a/pyrobolearn/robots/pepper.py b/pyrobolearn/robots/pepper.py index 317e8f1..035d93d 100644 --- a/pyrobolearn/robots/pepper.py +++ b/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): diff --git a/pyrobolearn/robots/phantomx.py b/pyrobolearn/robots/phantomx.py index bb02aaa..0cfb202 100644 --- a/pyrobolearn/robots/phantomx.py +++ b/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): diff --git a/pyrobolearn/robots/pleurobot.py b/pyrobolearn/robots/pleurobot.py index 891c59f..fee66d0 100644 --- a/pyrobolearn/robots/pleurobot.py +++ b/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): diff --git a/pyrobolearn/robots/pr2.py b/pyrobolearn/robots/pr2.py index 633ea54..4bcfc4c 100644 --- a/pyrobolearn/robots/pr2.py +++ b/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): diff --git a/pyrobolearn/robots/quadcopter.py b/pyrobolearn/robots/quadcopter.py index c46edc0..6718b01 100644 --- a/pyrobolearn/robots/quadcopter.py +++ b/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): diff --git a/pyrobolearn/robots/rhex.py b/pyrobolearn/robots/rhex.py index eab388d..f5ac706 100644 --- a/pyrobolearn/robots/rhex.py +++ b/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 diff --git a/pyrobolearn/robots/rrbot.py b/pyrobolearn/robots/rrbot.py index 827c7ce..8099628 100644 --- a/pyrobolearn/robots/rrbot.py +++ b/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): diff --git a/pyrobolearn/robots/sawyer.py b/pyrobolearn/robots/sawyer.py index 4400d15..7fa5e1e 100644 --- a/pyrobolearn/robots/sawyer.py +++ b/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): diff --git a/pyrobolearn/robots/sea_hexapod.py b/pyrobolearn/robots/sea_hexapod.py index 7c8d79f..a94282d 100644 --- a/pyrobolearn/robots/sea_hexapod.py +++ b/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): diff --git a/pyrobolearn/robots/sea_snake.py b/pyrobolearn/robots/sea_snake.py index 35f26c0..76c2450 100644 --- a/pyrobolearn/robots/sea_snake.py +++ b/pyrobolearn/robots/sea_snake.py @@ -3,7 +3,8 @@ """ import os -from robot import Robot + +from pyrobolearn.robots.robot import Robot class SEASnake(Robot): diff --git a/pyrobolearn/robots/sensors/__init__.py b/pyrobolearn/robots/sensors/__init__.py index f720057..30cd255 100644 --- a/pyrobolearn/robots/sensors/__init__.py +++ b/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 * diff --git a/pyrobolearn/robots/sensors/camera.py b/pyrobolearn/robots/sensors/camera.py index dfeb10f..a78a78c 100644 --- a/pyrobolearn/robots/sensors/camera.py +++ b/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" diff --git a/pyrobolearn/robots/sensors/contact.py b/pyrobolearn/robots/sensors/contact.py index 456ec89..abfde2f 100644 --- a/pyrobolearn/robots/sensors/contact.py +++ b/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" diff --git a/pyrobolearn/robots/sensors/force_torque.py b/pyrobolearn/robots/sensors/force_torque.py index fdf80e4..fa75912 100644 --- a/pyrobolearn/robots/sensors/force_torque.py +++ b/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" diff --git a/pyrobolearn/robots/sensors/imu.py b/pyrobolearn/robots/sensors/imu.py index f91aed2..8a8bb82 100644 --- a/pyrobolearn/robots/sensors/imu.py +++ b/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" diff --git a/pyrobolearn/robots/sensors/joints.py b/pyrobolearn/robots/sensors/joints.py index 24e1ae5..812b11f 100644 --- a/pyrobolearn/robots/sensors/joints.py +++ b/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" diff --git a/pyrobolearn/robots/sensors/light.py b/pyrobolearn/robots/sensors/light.py index de2f008..ec2614f 100644 --- a/pyrobolearn/robots/sensors/light.py +++ b/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" diff --git a/pyrobolearn/robots/sensors/links.py b/pyrobolearn/robots/sensors/links.py index 2bb5b42..6172123 100644 --- a/pyrobolearn/robots/sensors/links.py +++ b/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" diff --git a/pyrobolearn/robots/sensors/misc.py b/pyrobolearn/robots/sensors/misc.py index 77ea626..7ec817f 100644 --- a/pyrobolearn/robots/sensors/misc.py +++ b/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" diff --git a/pyrobolearn/robots/softhand.py b/pyrobolearn/robots/softhand.py index 3271e69..19c128b 100644 --- a/pyrobolearn/robots/softhand.py +++ b/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! diff --git a/pyrobolearn/robots/swimmer.py b/pyrobolearn/robots/swimmer.py index eef927f..9cfff9c 100644 --- a/pyrobolearn/robots/swimmer.py +++ b/pyrobolearn/robots/swimmer.py @@ -3,7 +3,8 @@ """ import os -from robot import Robot + +from pyrobolearn.robots.robot import Robot class Swimmer(Robot): diff --git a/pyrobolearn/robots/uav.py b/pyrobolearn/robots/uav.py index 0026a45..521a147 100644 --- a/pyrobolearn/robots/uav.py +++ b/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): diff --git a/pyrobolearn/robots/usv.py b/pyrobolearn/robots/usv.py index de3c737..4067874 100644 --- a/pyrobolearn/robots/usv.py +++ b/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): diff --git a/pyrobolearn/robots/uuv.py b/pyrobolearn/robots/uuv.py index d1a36bd..f30cb48 100644 --- a/pyrobolearn/robots/uuv.py +++ b/pyrobolearn/robots/uuv.py @@ -2,7 +2,7 @@ """Provide the Unmanned Underwater Vehicle (UUV) robot abstract classes. """ -from robot import Robot +from pyrobolearn.robots.robot import Robot class UUVRobot(Robot): diff --git a/pyrobolearn/robots/walker2d.py b/pyrobolearn/robots/walker2d.py index 696caa2..47714f0 100644 --- a/pyrobolearn/robots/walker2d.py +++ b/pyrobolearn/robots/walker2d.py @@ -3,7 +3,8 @@ """ import os -from robot import Robot + +from pyrobolearn.robots.robot import Robot class Walker2D(Robot): diff --git a/pyrobolearn/robots/walkman.py b/pyrobolearn/robots/walkman.py index 01a1661..3740970 100644 --- a/pyrobolearn/robots/walkman.py +++ b/pyrobolearn/robots/walkman.py @@ -3,9 +3,10 @@ """ import os -from legged_robot import BipedRobot -from manipulator import BiManipulatorRobot -from sensors import CameraSensor + +from pyrobolearn.robots.legged_robot import BipedRobot +from pyrobolearn.robots.manipulator import BiManipulatorRobot +from pyrobolearn.robots.sensors import CameraSensor class Walkman(BipedRobot, BiManipulatorRobot): diff --git a/pyrobolearn/robots/wam.py b/pyrobolearn/robots/wam.py index 40dcaa4..2067d3e 100644 --- a/pyrobolearn/robots/wam.py +++ b/pyrobolearn/robots/wam.py @@ -3,7 +3,8 @@ """ import os -from manipulator import ManipulatorRobot + +from pyrobolearn.robots.manipulator import ManipulatorRobot class WAM(ManipulatorRobot): diff --git a/pyrobolearn/robots/wheeled_robot.py b/pyrobolearn/robots/wheeled_robot.py index 5aba971..f104315 100644 --- a/pyrobolearn/robots/wheeled_robot.py +++ b/pyrobolearn/robots/wheeled_robot.py @@ -3,7 +3,8 @@ """ import numpy as np -from robot import Robot + +from pyrobolearn.robots.robot import Robot class WheeledRobot(Robot): diff --git a/pyrobolearn/robots/youbot.py b/pyrobolearn/robots/youbot.py index 8552dc4..16eaa58 100644 --- a/pyrobolearn/robots/youbot.py +++ b/pyrobolearn/robots/youbot.py @@ -7,8 +7,8 @@ These include: YoubotBase, KukaYoubotArm, Youbot, YoubotDualArm import os import numpy as np -from manipulator import ManipulatorRobot, BiManipulatorRobot -from wheeled_robot import DifferentialWheeledRobot +from pyrobolearn.robots.manipulator import ManipulatorRobot, BiManipulatorRobot +from pyrobolearn.robots.wheeled_robot import DifferentialWheeledRobot class YoubotBase(DifferentialWheeledRobot): diff --git a/pyrobolearn/simulators/__init__.py b/pyrobolearn/simulators/__init__.py index 9586901..fe94980 100644 --- a/pyrobolearn/simulators/__init__.py +++ b/pyrobolearn/simulators/__init__.py @@ -2,7 +2,7 @@ # load all simulators # basic simulator -from simulator import Simulator +from .simulator import Simulator # PyBullet simulator import pybullet diff --git a/pyrobolearn/states/__init__.py b/pyrobolearn/states/__init__.py index 3b266ae..15acfca 100644 --- a/pyrobolearn/states/__init__.py +++ b/pyrobolearn/states/__init__.py @@ -1,18 +1,18 @@ # import state -from state import State +from .state import State # import basic states -from basic_states import * +from .basic_states import * # import object states -from object_states import * +from .object_states import * # import time/count states -from time_states import * +from .time_states import * # import robot states -from robot_states import * +from .robot_states import * # import gym states -from gym_states import * +from .gym_states import * diff --git a/pyrobolearn/states/basic_states.py b/pyrobolearn/states/basic_states.py index 650859a..4ccaee1 100644 --- a/pyrobolearn/states/basic_states.py +++ b/pyrobolearn/states/basic_states.py @@ -5,8 +5,9 @@ This includes notably the fixed, functional, and counter states. """ import numpy as np -from state import State -from pyrobolearn.actions import Action + +from pyrobolearn.states.state import State +from pyrobolearn.actions.action import Action __author__ = "Brian Delhaisse" diff --git a/pyrobolearn/states/gym_states.py b/pyrobolearn/states/gym_states.py index 536f1bc..37ea999 100644 --- a/pyrobolearn/states/gym_states.py +++ b/pyrobolearn/states/gym_states.py @@ -8,7 +8,8 @@ the various policies defined in the pyrobolearn framework. """ import gym -from state import State + +from pyrobolearn.states.state import State __author__ = "Brian Delhaisse" __copyright__ = "Copyright 2018, PyRoboLearn" diff --git a/pyrobolearn/states/object_states.py b/pyrobolearn/states/object_states.py index 766b1ce..a4650bc 100644 --- a/pyrobolearn/states/object_states.py +++ b/pyrobolearn/states/object_states.py @@ -5,8 +5,9 @@ This includes notably the joint positions, velocities, and force/torque states. """ from abc import ABCMeta, abstractmethod -from state import State -from pyrobolearn.worlds import World + +from pyrobolearn.states.state import State +from pyrobolearn.worlds.world import World from pyrobolearn.robots import Object diff --git a/pyrobolearn/states/robot_states/__init__.py b/pyrobolearn/states/robot_states/__init__.py index 974bfda..6d4702b 100644 --- a/pyrobolearn/states/robot_states/__init__.py +++ b/pyrobolearn/states/robot_states/__init__.py @@ -1,12 +1,12 @@ # import the basic robot states -from robot_states import * +from .robot_states import * # import the joint states -from joint_states import * +from .joint_states import * # import the link states -from link_states import * +from .link_states import * # import the sensor states -from sensor_states import * +from .sensor_states import * diff --git a/pyrobolearn/states/robot_states/joint_states.py b/pyrobolearn/states/robot_states/joint_states.py index 60963fd..00d09d2 100644 --- a/pyrobolearn/states/robot_states/joint_states.py +++ b/pyrobolearn/states/robot_states/joint_states.py @@ -5,7 +5,8 @@ This includes notably the joint positions, velocities, and force/torque states. """ from abc import ABCMeta -from robot_states import RobotState + +from pyrobolearn.states.robot_states import RobotState __author__ = "Brian Delhaisse" diff --git a/pyrobolearn/states/robot_states/link_states.py b/pyrobolearn/states/robot_states/link_states.py index ac2182b..fb0f743 100644 --- a/pyrobolearn/states/robot_states/link_states.py +++ b/pyrobolearn/states/robot_states/link_states.py @@ -5,7 +5,8 @@ This includes notably the link positions and velocities. """ from abc import ABCMeta -from robot_states import RobotState + +from pyrobolearn.states.robot_states import RobotState __author__ = "Brian Delhaisse" diff --git a/pyrobolearn/states/robot_states/robot_states.py b/pyrobolearn/states/robot_states/robot_states.py index dae8159..adf4b5b 100644 --- a/pyrobolearn/states/robot_states/robot_states.py +++ b/pyrobolearn/states/robot_states/robot_states.py @@ -10,6 +10,7 @@ Dependencies: from abc import ABCMeta, abstractmethod import numpy as np + from pyrobolearn.states import State from pyrobolearn.robots import Robot diff --git a/pyrobolearn/states/robot_states/sensor_states.py b/pyrobolearn/states/robot_states/sensor_states.py index 344831f..e567f3f 100644 --- a/pyrobolearn/states/robot_states/sensor_states.py +++ b/pyrobolearn/states/robot_states/sensor_states.py @@ -5,7 +5,8 @@ This includes notably the camera, contact, IMU, force/torque sensors and others. """ from abc import ABCMeta -from robot_states import RobotState + +from pyrobolearn.states.robot_states import RobotState __author__ = "Brian Delhaisse" diff --git a/pyrobolearn/states/time_states.py b/pyrobolearn/states/time_states.py index 944d3a0..3d86021 100644 --- a/pyrobolearn/states/time_states.py +++ b/pyrobolearn/states/time_states.py @@ -7,7 +7,8 @@ This includes notably the absolute, relative, and cumulative time states. from abc import ABCMeta import time import numpy as np -from state import State + +from pyrobolearn.states.state import State __author__ = "Brian Delhaisse" diff --git a/pyrobolearn/tasks/__init__.py b/pyrobolearn/tasks/__init__.py index dd83461..eaa5005 100644 --- a/pyrobolearn/tasks/__init__.py +++ b/pyrobolearn/tasks/__init__.py @@ -1,21 +1,21 @@ # import from task -from task import Task +from .task import Task # import imitation learning task -from imitation import ILTask +from .imitation import ILTask # import reinforcement learning task -from reinforcement import RLTask +from .reinforcement import RLTask # import active learning task -from active import ALTask +from .active import ALTask # import transfer learning task -from transfer import TLTask +from .transfer import TLTask # import inverse reinforcement learning task -from inverse_reinforcement import IRLTask +from .inverse_reinforcement import IRLTask # import curriculum learning task -from curriculum import CLTask +from .curriculum import CLTask diff --git a/pyrobolearn/tasks/active.py b/pyrobolearn/tasks/active.py index 41c5d48..270c998 100644 --- a/pyrobolearn/tasks/active.py +++ b/pyrobolearn/tasks/active.py @@ -2,7 +2,7 @@ """Define the active learning task. """ -from imitation import ILTask +from pyrobolearn.tasks.imitation import ILTask __author__ = "Brian Delhaisse" __copyright__ = "Copyright 2018, PyRoboLearn" diff --git a/pyrobolearn/tasks/curriculum.py b/pyrobolearn/tasks/curriculum.py index d3b5a41..430a639 100644 --- a/pyrobolearn/tasks/curriculum.py +++ b/pyrobolearn/tasks/curriculum.py @@ -17,8 +17,9 @@ References: """ import collections + from pyrobolearn.worlds import World -from task import Task, Env +from pyrobolearn.tasks.task import Task, Env __author__ = "Brian Delhaisse" __copyright__ = "Copyright 2018, PyRoboLearn" diff --git a/pyrobolearn/tasks/imitation.py b/pyrobolearn/tasks/imitation.py index e5a7409..84b817a 100644 --- a/pyrobolearn/tasks/imitation.py +++ b/pyrobolearn/tasks/imitation.py @@ -11,7 +11,7 @@ from itertools import count import time import numpy as np -from task import Task +from pyrobolearn.tasks.task import Task from pyrobolearn.recorders import Recorder, StateRecorder, ActionRecorder # from pyrobolearn.tools.interfaces import Interface from pyrobolearn.tools.bridges import Bridge diff --git a/pyrobolearn/tasks/inverse_reinforcement.py b/pyrobolearn/tasks/inverse_reinforcement.py index 125fa30..5418f3e 100644 --- a/pyrobolearn/tasks/inverse_reinforcement.py +++ b/pyrobolearn/tasks/inverse_reinforcement.py @@ -2,7 +2,7 @@ """Define the inverse reinforcement learning task. """ -from imitation import ILTask +from pyrobolearn.tasks.imitation import ILTask __author__ = "Brian Delhaisse" __copyright__ = "Copyright 2018, PyRoboLearn" diff --git a/pyrobolearn/tasks/misc.py b/pyrobolearn/tasks/misc.py index 9acaacb..fafc111 100644 --- a/pyrobolearn/tasks/misc.py +++ b/pyrobolearn/tasks/misc.py @@ -2,7 +2,7 @@ """Define the miscellaneous tasks. """ -from tasks import Task, ILTask, RLTask +from pyrobolearn.tasks.tasks import Task, ILTask, RLTask __author__ = "Brian Delhaisse" __copyright__ = "Copyright 2018, PyRoboLearn" diff --git a/pyrobolearn/tasks/reinforcement.py b/pyrobolearn/tasks/reinforcement.py index 94204a7..ca4f65f 100644 --- a/pyrobolearn/tasks/reinforcement.py +++ b/pyrobolearn/tasks/reinforcement.py @@ -2,8 +2,9 @@ """Define the reinforcement learning task. """ -from task import Task -import gym +# import gym + +from pyrobolearn.tasks.task import Task __author__ = "Brian Delhaisse" __copyright__ = "Copyright 2018, PyRoboLearn" diff --git a/pyrobolearn/tasks/scheduler.py b/pyrobolearn/tasks/scheduler.py index c379e16..038f850 100644 --- a/pyrobolearn/tasks/scheduler.py +++ b/pyrobolearn/tasks/scheduler.py @@ -8,7 +8,7 @@ defined it will sequence this one with the previous policy. The same rationale a and so on. """ -from task import Task +from pyrobolearn.tasks.task import Task __author__ = "Brian Delhaisse" diff --git a/pyrobolearn/tasks/transfer.py b/pyrobolearn/tasks/transfer.py index 12dad7c..4747129 100644 --- a/pyrobolearn/tasks/transfer.py +++ b/pyrobolearn/tasks/transfer.py @@ -2,7 +2,7 @@ """Define the transfer learning task. """ -from task import Task +from pyrobolearn.tasks.task import Task __author__ = "Brian Delhaisse" __copyright__ = "Copyright 2018, PyRoboLearn" diff --git a/pyrobolearn/tools/bridges/__init__.py b/pyrobolearn/tools/bridges/__init__.py index b1ed603..6ddbe1c 100644 --- a/pyrobolearn/tools/bridges/__init__.py +++ b/pyrobolearn/tools/bridges/__init__.py @@ -1,10 +1,10 @@ # a bridge links an interface with something else # general bridge import -from bridge import Bridge +from .bridge import Bridge # Bridge for mouse-keyboard interfaces -from mouse_keyboard import * +from .mouse_keyboard import * # Bridge for audio interfaces # from audio import * diff --git a/pyrobolearn/tools/bridges/mouse_keyboard/__init__.py b/pyrobolearn/tools/bridges/mouse_keyboard/__init__.py index 475444b..a56a50e 100644 --- a/pyrobolearn/tools/bridges/mouse_keyboard/__init__.py +++ b/pyrobolearn/tools/bridges/mouse_keyboard/__init__.py @@ -1,4 +1,4 @@ # import -from bridge_mousekeyboard_world import BridgeMouseKeyboardWorld -from bridge_mousekeyboard_imitation_task import BridgeMouseKeyboardImitationTask +from .bridge_mousekeyboard_world import BridgeMouseKeyboardWorld +from .bridge_mousekeyboard_imitation_task import BridgeMouseKeyboardImitationTask diff --git a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_imitation_task.py b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_imitation_task.py index 730cee3..75e2a42 100644 --- a/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_imitation_task.py +++ b/pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_imitation_task.py @@ -16,7 +16,7 @@ from pyrobolearn.envs import Env from pyrobolearn.tools.interfaces import MouseKeyboardInterface # from pyrobolearn.tools.bridges import Bridge -from bridge_mousekeyboard_world import BridgeMouseKeyboardWorld +from pyrobolearn.tools.bridges.mouse_keyboard.bridge_mousekeyboard_world import BridgeMouseKeyboardWorld # from pyrobolearn.tasks.imitation_task import ILTask # Warning: circular dependency __author__ = "Brian Delhaisse" diff --git a/pyrobolearn/tools/interfaces/__init__.py b/pyrobolearn/tools/interfaces/__init__.py index 15fb30f..7f496cb 100644 --- a/pyrobolearn/tools/interfaces/__init__.py +++ b/pyrobolearn/tools/interfaces/__init__.py @@ -1,9 +1,9 @@ # import the interfaces -from interface import * +from .interface import * # mouse-keyboard interface -from mouse_keyboard import * +from .mouse_keyboard import * # audio # from audio import * diff --git a/pyrobolearn/tools/interfaces/mouse_keyboard/__init__.py b/pyrobolearn/tools/interfaces/mouse_keyboard/__init__.py index b90e724..4ec3251 100644 --- a/pyrobolearn/tools/interfaces/mouse_keyboard/__init__.py +++ b/pyrobolearn/tools/interfaces/mouse_keyboard/__init__.py @@ -1,3 +1,3 @@ # import mouse keyboard interface -from mousekeyboard import MouseKeyboardInterface +from .mousekeyboard import MouseKeyboardInterface diff --git a/pyrobolearn/utils/data_structures/__init__.py b/pyrobolearn/utils/data_structures/__init__.py index d876ab7..d1d8dbe 100644 --- a/pyrobolearn/utils/data_structures/__init__.py +++ b/pyrobolearn/utils/data_structures/__init__.py @@ -2,7 +2,7 @@ # Define common data structures # Ordered sets -from orderedset import * +from .orderedset import * # Graph -from graph import * \ No newline at end of file +from .graph import * \ No newline at end of file diff --git a/pyrobolearn/utils/orientation.py b/pyrobolearn/utils/orientation.py index 3c0b305..1407565 100644 --- a/pyrobolearn/utils/orientation.py +++ b/pyrobolearn/utils/orientation.py @@ -6,7 +6,7 @@ import quaternion import sympy from collections import Iterable -from converter import QuaternionNumpyConverter +from pyrobolearn.utils.converter import QuaternionNumpyConverter def getMatrixFromAxisAngle(axis, angle): diff --git a/pyrobolearn/worlds/__init__.py b/pyrobolearn/worlds/__init__.py index 6fdd4dc..b940acd 100644 --- a/pyrobolearn/worlds/__init__.py +++ b/pyrobolearn/worlds/__init__.py @@ -1,3 +1,3 @@ # import worlds -from world import World, BasicWorld, WorldCamera +from .world import World, BasicWorld, WorldCamera