diff --git a/bindings/python/scripts/__init__.py b/bindings/python/scripts/__init__.py
index 6b4a1ffebbcd38e06b653262129907f083d7bfac..7efcaa6a6aa05162147579e8c4148071a1169bce 100644
--- a/bindings/python/scripts/__init__.py
+++ b/bindings/python/scripts/__init__.py
@@ -17,10 +17,10 @@
import numpy as np
from pinocchio.robot_wrapper import RobotWrapper
-import libpinocchio_pywrap as se3
-import utils
-from explog import exp, log
-from libpinocchio_pywrap import *
+from . import libpinocchio_pywrap as se3
+from . import utils
+from .explog import exp, log
+from .libpinocchio_pywrap import *
se3.AngleAxis.__repr__ = lambda s: 'AngleAxis(%s)' % s.vector()
diff --git a/bindings/python/scripts/derivative/dcrba.py b/bindings/python/scripts/derivative/dcrba.py
index 014c20152142f3085ebd920a5c283a153467766e..28f8d4bdde21d2d03221a6a5380215d22ce9220f 100644
--- a/bindings/python/scripts/derivative/dcrba.py
+++ b/bindings/python/scripts/derivative/dcrba.py
@@ -14,6 +14,8 @@
# Pinocchio If not, see
# <http://www.gnu.org/licenses/>.
+from __future__ import print_function
+
import pinocchio as se3
from pinocchio.robot_wrapper import RobotWrapper
from pinocchio.utils import *
@@ -379,7 +381,7 @@ if __name__ == '__main__':
se3.computeAllTerms(robot.model,robot.data,q,vq1)
Htrue[:,i,j] = (robot.data.oMi[joint_i]*robot.data.a[joint_i]).vector.T
- print 'Check hessian = \t\t', norm(H-Htrue)
+ print('Check hessian = \t\t', norm(H-Htrue))
# --- dCRBA ---
# --- dCRBA ---
@@ -405,7 +407,7 @@ if __name__ == '__main__':
dM /= eps
- print 'Check dCRBA = \t\t\t', max([ norm(Mp[:,:,diff]-dM[:,:,diff]) for diff in range(robot.model.nv) ])
+ print('Check dCRBA = \t\t\t', max([ norm(Mp[:,:,diff]-dM[:,:,diff]) for diff in range(robot.model.nv) ]))
# --- vRNEA ---
@@ -431,18 +433,18 @@ if __name__ == '__main__':
vq1[i] = vq1[j] = 1.0
C[:,i,j] = (rnea0(q,vq1).T-C[:,i,i]-C[:,j,j]) /2
- print "Check d/dv rnea = \t\t",norm(quad(Q,vq)-rnea0(q,vq))
- print "Check C = Q+Q.T = \t\t", norm((Q+Q.transpose(0,2,1))/2-C)
- print "Check dM = C+C.T /2 \t\t", norm( Mp - (C+C.transpose(1,0,2)) )
- print "Check dM = Q+Q.T+Q.T+Q.T /2 \t", norm( Mp -
- (Q+Q.transpose(0,2,1)+Q.transpose(1,0,2)+Q.transpose(2,0,1))/2 )
+ print("Check d/dv rnea = \t\t",norm(quad(Q,vq)-rnea0(q,vq)))
+ print("Check C = Q+Q.T = \t\t", norm((Q+Q.transpose(0,2,1))/2-C))
+ print("Check dM = C+C.T /2 \t\t", norm( Mp - (C+C.transpose(1,0,2)) ))
+ print("Check dM = Q+Q.T+Q.T+Q.T /2 \t", norm( Mp -
+ (Q+Q.transpose(0,2,1)+Q.transpose(1,0,2)+Q.transpose(2,0,1))/2 ))
# --- CORIOLIS
# --- CORIOLIS
# --- CORIOLIS
coriolis = Coriolis(robot)
C = coriolis(q,vq)
- print "Check coriolis \t\t\t",norm(C*vq-rnea0(q,vq))
+ print("Check coriolis \t\t\t",norm(C*vq-rnea0(q,vq)))
# --- DRNEA
# --- DRNEA
@@ -459,7 +461,7 @@ if __name__ == '__main__':
dq = zero(NV); dq[i]=eps
qdq = se3.integrate(robot.model,q,dq)
Rd[:,i] = (se3.rnea(robot.model,robot.data,qdq,vq,aq)-r0)/eps
- print "Check drnea \t\t\t",norm(Rd-R)
+ print("Check drnea \t\t\t",norm(Rd-R))
diff --git a/bindings/python/scripts/derivative/lambdas.py b/bindings/python/scripts/derivative/lambdas.py
index 320b0c8eef68b8c557a628263b650827c41ec823..f5624f0fe28f174cc03833216fc539c75c6c76de 100644
--- a/bindings/python/scripts/derivative/lambdas.py
+++ b/bindings/python/scripts/derivative/lambdas.py
@@ -26,8 +26,8 @@ def jFromIdx(idxv,robot):
return j
parent = lambda i,robot: robot.model.parents[i]
-iv = lambda i,robot: range(robot.model.joints[i].idx_v,
- robot.model.joints[i].idx_v+robot.model.joints[i].nv)
+iv = lambda i,robot: list(range(robot.model.joints[i].idx_v,
+ robot.model.joints[i].idx_v+robot.model.joints[i].nv))
ancestors = lambda j,robot,res=[]: res if j==0 else ancestors(robot.model.parents[j],robot,[j,]+res)
class ancestorOf:
diff --git a/bindings/python/scripts/explog.py b/bindings/python/scripts/explog.py
index 3d7450ee9acf63ff438e612aa5da01d22f1f6444..070b511cc7995efec56c34031d00040339ebbe41 100644
--- a/bindings/python/scripts/explog.py
+++ b/bindings/python/scripts/explog.py
@@ -19,7 +19,7 @@ import math
import numpy as np
-import libpinocchio_pywrap as se3
+from . import libpinocchio_pywrap as se3
def exp(x):
diff --git a/bindings/python/scripts/robot_wrapper.py b/bindings/python/scripts/robot_wrapper.py
index 28b8058b8915591eb78e7cd633085c84f07e720f..19c794571cf360f8797ddf45543c45f2ac7145d2 100644
--- a/bindings/python/scripts/robot_wrapper.py
+++ b/bindings/python/scripts/robot_wrapper.py
@@ -14,8 +14,8 @@
# Pinocchio If not, see
# <http://www.gnu.org/licenses/>.
-import libpinocchio_pywrap as se3
-import utils
+from . import libpinocchio_pywrap as se3
+from . import utils
import time
import os
@@ -42,7 +42,7 @@ class RobotWrapper(object):
self.collision_model = se3.buildGeomFromUrdf(self.model, filename, se3.GeometryType.COLLISION)
self.visual_model = se3.buildGeomFromUrdf(self.model, filename, se3.GeometryType.VISUAL)
else:
- if not all(isinstance(item, basestring) for item in package_dirs):
+ if not all(isinstance(item, str) for item in package_dirs):
raise Exception('The list of package directories is wrong. At least one is not a string')
else:
self.collision_model = se3.buildGeomFromUrdf(self.model, filename,
@@ -223,7 +223,7 @@ class RobotWrapper(object):
def loadDisplayModel(self, rootNodeName="pinocchio"):
def loadDisplayGeometryObject(geometry_object,geometry_type):
- from rpy import npToTuple
+ from .rpy import npToTuple
meshName = self.getViewerNodeName(geometry_object,geometry_type)
meshPath = geometry_object.meshPath
diff --git a/bindings/python/scripts/romeo_wrapper.py b/bindings/python/scripts/romeo_wrapper.py
index e7e9a6bdfc3d70636cf23168e28c1387e66ae2bc..72eeacbb0a4df05ec8c8591869f00eb5542c3c8c 100644
--- a/bindings/python/scripts/romeo_wrapper.py
+++ b/bindings/python/scripts/romeo_wrapper.py
@@ -16,8 +16,8 @@
import numpy as np
-import libpinocchio_pywrap as se3
-from robot_wrapper import RobotWrapper
+from . import libpinocchio_pywrap as se3
+from .robot_wrapper import RobotWrapper
class RomeoWrapper(RobotWrapper):
diff --git a/bindings/python/scripts/rpy.py b/bindings/python/scripts/rpy.py
index 0ff25a46d9324a25bedae69d570ed3211a0e43d6..55b713b8f41d6f12fbc47acc095d5f4cc889057e 100644
--- a/bindings/python/scripts/rpy.py
+++ b/bindings/python/scripts/rpy.py
@@ -18,7 +18,7 @@ from math import atan2, pi, sqrt
import numpy as np
-import libpinocchio_pywrap as se3
+from . import libpinocchio_pywrap as se3
def npToTTuple(M):
diff --git a/bindings/python/scripts/utils.py b/bindings/python/scripts/utils.py
index bf91aca8a6079134eec70df597b727c05ee253ec..7791d3108bab8ea20f136531290119ec3864f0d3 100644
--- a/bindings/python/scripts/utils.py
+++ b/bindings/python/scripts/utils.py
@@ -14,15 +14,17 @@
# Pinocchio If not, see
# <http://www.gnu.org/licenses/>.
+from __future__ import print_function
+
import sys
import numpy as np
import numpy.linalg as npl
-import libpinocchio_pywrap as se3
-from rpy import matrixToRpy, npToTTuple, npToTuple, rotate, rpyToMatrix
+from . import libpinocchio_pywrap as se3
+from .rpy import matrixToRpy, npToTTuple, npToTuple, rotate, rpyToMatrix
-from deprecation import deprecated
+from .deprecation import deprecated
eye = lambda n: np.matrix(np.eye(n), np.double)
zero = lambda n: np.matrix(np.zeros([n, 1] if isinstance(n, int) else n), np.double)
@@ -96,8 +98,8 @@ def mprint(M, name="ans",eps=1e-15):
M = M.homogeneous
ncol = M.shape[1]
NC = 6
- print name, " = "
- print
+ print(name, " = ")
+ print()
Mmin = lambda M: M.min() if np.nonzero(M)[1].shape[1]>0 else M.sum()
Mmax = lambda M: M.max() if np.nonzero(M)[1].shape[1]>0 else M.sum()
@@ -110,15 +112,15 @@ def mprint(M, name="ans",eps=1e-15):
cmin = i * 6
cmax = (i + 1) * 6
cmax = ncol if ncol < cmax else cmax
- print "Columns %s through %s" % (cmin, cmax - 1)
- print
+ print("Columns %s through %s" % (cmin, cmax - 1))
+ print()
for r in range(M.shape[0]):
sys.stdout.write(" ")
for c in range(cmin, cmax):
if abs(M[r,c])>eps: sys.stdout.write(fmt % M[r,c] + " ")
else: sys.stdout.write(" 0"+" "*9)
- print
- print
+ print()
+ print()
def fromListToVectorOfString(items):
diff --git a/lab/python/exp_integration.py b/lab/python/exp_integration.py
index 64793fc53304890816d630ee64bfe6fe5ac0f036..88ceda0e0354157cc71f6a880cf8ac544367894c 100644
--- a/lab/python/exp_integration.py
+++ b/lab/python/exp_integration.py
@@ -4,6 +4,8 @@ purpose of this script is to exhibit the use of the exp and log map for
interpolating SE(3) movements.
'''
+from __future__ import print_function
+
import robotviewer
viewer = robotviewer.client('XML-RPC')
try:
@@ -49,7 +51,7 @@ nu = se3.Motion(se3.log(M.inverse() * ME).vector() / N)
for i in range(N):
M = M * se3.exp(nu)
viewer.updateElementConfig('RomeoTrunkYaw', se3ToRpy(M))
-print "Residuals = ", norm(se3.log(M.inverse() * ME).vector())
+print("Residuals = ", norm(se3.log(M.inverse() * ME).vector()))
time.sleep(1)
# Integrate a constant "log" velocity in reference frame.
@@ -59,7 +61,7 @@ nu = se3.Motion(se3.log(M.inverse() * ME).vector() / N)
for i in range(N):
M = M * se3.exp(nu)
viewer.updateElementConfig('RomeoTrunkYaw', se3ToRpy(M))
-print "Residuals = ", norm(se3.log(M.inverse() * ME).vector())
+print("Residuals = ", norm(se3.log(M.inverse() * ME).vector()))
time.sleep(1)
# Integrate an exponential decay vector field toward ME.
@@ -69,7 +71,7 @@ for i in range(N):
nu = se3.log(M.inverse() * ME).vector() * 1e-2
M = M * se3.exp(nu)
viewer.updateElementConfig('RomeoTrunkYaw', se3ToRpy(M))
-print "Residuals = ", norm(se3.log(M.inverse() * ME).vector())
+print("Residuals = ", norm(se3.log(M.inverse() * ME).vector()))
time.sleep(1)
# Integrate a straight-line vector field toward ME.
@@ -82,5 +84,5 @@ for i in range(N):
nu = se3.Motion(v, w)
M = M * se3.exp(nu)
viewer.updateElementConfig('RomeoTrunkYaw', se3ToRpy(M))
-print "Residuals = ", norm(se3.log(M.inverse() * ME).vector())
+print("Residuals = ", norm(se3.log(M.inverse() * ME).vector()))
time.sleep(1)
diff --git a/lab/python/kineinv.py b/lab/python/kineinv.py
index 75087a96156233c115562b28456994a909eda9b4..8cbbe88ddc6b1226da9010f078a9d03f3e459782 100644
--- a/lab/python/kineinv.py
+++ b/lab/python/kineinv.py
@@ -4,6 +4,8 @@ abscissia), dimension 3 (x,y,z coordinates), dimension 6 (SE3 exp integration)
and dimension 6 (R3xSO3 integration, straightline in the cartesian space).
'''
+from __future__ import print_function
+
def kineinv_dim1(q0, xdes, N=100):
'''
@@ -22,7 +24,7 @@ def kineinv_dim1(q0, xdes, N=100):
robot.increment(q, qdot * 5e-2)
robot.display(q)
- print "Residuals = ", robot.Mrh(q).translation[0, 0] - xdes
+ print("Residuals = ", robot.Mrh(q).translation[0, 0] - xdes)
def kineinv_dim3(q0, xdes, N=100):
@@ -42,7 +44,7 @@ def kineinv_dim3(q0, xdes, N=100):
robot.increment(q, qdot * 5e-2)
robot.display(q)
- print "Residuals = ", npl.norm(robot.Mrh(q).translation[:3] - xdes)
+ print("Residuals = ", npl.norm(robot.Mrh(q).translation[:3] - xdes))
def kineinv_dim6(q0, Mdes, straight=True, N=100):
@@ -72,7 +74,7 @@ def kineinv_dim6(q0, Mdes, straight=True, N=100):
robot.increment(q, qdot * 5e-2)
robot.display(q)
- print "Residuals = ", npl.norm(se3.log(robot.Mrh(q).inverse() * Mdes).vector())
+ print("Residuals = ", npl.norm(se3.log(robot.Mrh(q).inverse() * Mdes).vector()))
# --- MAIN ------------------------------------------------------
if __name__ == '__main__':
diff --git a/python/explog.py b/python/explog.py
index 07315b7d605a5924d65dbef93c4c3af8f578b970..68d8daf0949a208649d874955f73250e7dfe5e57 100644
--- a/python/explog.py
+++ b/python/explog.py
@@ -13,7 +13,7 @@ class TestExpLog(TestCase):
self.assertApprox(log(42), math.log(42))
self.assertApprox(exp(log(42)), 42)
self.assertApprox(log(exp(42)), 42)
- m = np.matrix(range(1, 4), np.double).T
+ m = np.matrix(list(range(1, 4)), np.double).T
self.assertApprox(log(exp(m)), m)
m = se3.SE3.Random()
self.assertApprox(exp(log(m)), m)
@@ -24,8 +24,8 @@ class TestExpLog(TestCase):
with self.assertRaises(ValueError):
exp(np.eye(4))
with self.assertRaises(ValueError):
- exp(range(3))
+ exp(list(range(3)))
with self.assertRaises(ValueError):
- log(range(3))
+ log(list(range(3)))
with self.assertRaises(ValueError):
log(np.zeros(5))
diff --git a/python/rpy.py b/python/rpy.py
index 1d9fb9421d949078ac68faa5bac02b7da7b22bbe..1efeb1e17ffbced9bbed4604030e41534a0f90ed 100644
--- a/python/rpy.py
+++ b/python/rpy.py
@@ -8,7 +8,7 @@ from test_case import TestCase
class TestRPY(TestCase):
def test_npToTuple(self):
- m = np.matrix(range(9))
+ m = np.matrix(list(range(9)))
self.assertEqual(npToTuple(m), tuple(range(9)))
self.assertEqual(npToTuple(m.T), tuple(range(9)))
self.assertEqual(npToTuple(np.reshape(m, (3, 3))), ((0, 1, 2), (3, 4, 5), (6, 7, 8)))
@@ -18,5 +18,5 @@ class TestRPY(TestCase):
self.assertApprox(rotate('x', pi) * rotate('y', pi), rotate('z', pi))
m = rotate('x', pi / 3) * rotate('y', pi / 5) * rotate('y', pi / 7)
self.assertApprox(rpyToMatrix(matrixToRpy(m)), m)
- rpy = np.matrix(range(3)).T * pi / 2
+ rpy = np.matrix(list(range(3))).T * pi / 2
self.assertApprox(matrixToRpy(rpyToMatrix(rpy)), rpy)
diff --git a/python/tests.py b/python/tests.py
index 1e2741aab1c58ced18b540a9ba07c1235b88af00..ec426a9e8ea1df43a9cd163b85162a89750f2fdf 100755
--- a/python/tests.py
+++ b/python/tests.py
@@ -1,5 +1,7 @@
#!/usr/bin/env python
+from __future__ import print_function
+
import unittest, sys
from bindings import TestSE3 # noqa
@@ -15,6 +17,6 @@ from rpy import TestRPY # noqa
from utils import TestUtils # noqa
if __name__ == '__main__':
- print "Python version"
- print sys.version_info
+ print("Python version")
+ print(sys.version_info)
unittest.main()