fix python2 compatibility

gibson2/render/mesh_renderer/mesh_renderer_cpu.py

@@ -1074,7 +1074,7 @@ class MeshRenderer(object):
                 or_buffer_idx_end = len(duplicate_vao_ids)
                 # Store indices in the duplicate vao ids array, and hence the optimized rendering buffers, that this Instance will use
                 instance.or_buffer_indices = list(
-                    np.arange(or_buffer_idx_start, or_buffer_idx_end)).copy()
+                    np.arange(or_buffer_idx_start, or_buffer_idx_end))
                 class_id_array.extend(
                     [float(instance.class_id) / 255.0] * len(ids))
                 pbr_data_array.extend(
@@ -1094,7 +1094,7 @@ class MeshRenderer(object):
                     temp_or_buffer_indices.extend(
                         list(np.arange(or_buffer_idx_start, or_buffer_idx_end)))
                     id_sum += len(ids)
-                instance.or_buffer_indices = temp_or_buffer_indices.copy()
+                instance.or_buffer_indices = list(temp_or_buffer_indices)
                 class_id_array.extend(
                     [float(instance.class_id) / 255.0] * id_sum)
                 pbr_data_array.extend(

gibson2/render/viewer.py

@@ -160,8 +160,10 @@ class Viewer:
                 link_state = p.getLinkState(object_id, link_id)
                 link_pos, link_orn = link_state[:2]
 
+            child_frame_trans_pos, child_frame_trans_orn = p.invertTransform(link_pos, link_orn)
             child_frame_pos, child_frame_orn = \
-                p.multiplyTransforms(*p.invertTransform(link_pos, link_orn),
+                p.multiplyTransforms(child_frame_trans_pos,
+                                     child_frame_trans_orn,
                                      hit_pos,
                                      [0, 0, 0, 1])
             self.constraint_marker.set_position(hit_pos)

gibson2/reward_functions/reward_function_base.py

@@ -1,12 +1,12 @@
-from abc import abstractmethod, ABC
+from abc import abstractmethod, ABCMeta
 
 
-class BaseRewardFunction(ABC):
+class BaseRewardFunction():
     """
     Base RewardFunction class
     Reward-specific reset and get_reward methods are implemented in subclasses
     """
-
+    __metaclass__ = ABCMeta
     def __init__(self, config):
         self.config = config
 

gibson2/scenes/empty_scene.py

@@ -13,7 +13,7 @@ class EmptyScene(Scene):
     """
 
     def __init__(self):
-        super().__init__()
+        super(EmptyScene, self).__init__()
 
     def load(self):
         """

gibson2/scenes/gibson_indoor_scene.py

@@ -41,7 +41,7 @@ class StaticIndoorScene(IndoorScene):
         :param waypoint_resolution: resolution of adjacent way points
         :param pybullet_load_texture: whether to load texture into pybullet. This is for debugging purpose only and does not affect robot's observations
         """
-        super().__init__(
+        super(StaticIndoorScene, self).__init__(
             scene_id,
             trav_map_resolution,
             trav_map_erosion,

gibson2/scenes/igibson_indoor_scene.py

@@ -66,7 +66,7 @@ class InteractiveIndoorScene(StaticIndoorScene):
         :param scene_source: source of scene data; among IG, CUBICASA, THREEDFRONT 
         """
 
-        super().__init__(
+        super(InteractiveIndoorScene, self).__init__(
             scene_id,
             trav_map_resolution,
             trav_map_erosion,

gibson2/scenes/indoor_scene.py

@@ -41,7 +41,7 @@ class IndoorScene(Scene):
         :param waypoint_resolution: resolution of adjacent way points
         :param pybullet_load_texture: whether to load texture into pybullet. This is for debugging purpose only and does not affect robot's observations
         """
-        super().__init__()
+        super(IndoorScene, self).__init__()
         logging.info("IndoorScene model: {}".format(scene_id))
         self.scene_id = scene_id
         self.trav_map_default_resolution = 0.01  # each pixel represents 0.01m

gibson2/scenes/stadium_scene.py

@@ -13,7 +13,7 @@ class StadiumScene(Scene):
     """
 
     def __init__(self):
-        super().__init__()
+        super(StadiumScene, self).__init__()
 
     def load(self):
         """

gibson2/sensors/sensor_base.py

@@ -1,12 +1,12 @@
-from abc import abstractmethod, ABC
+from abc import abstractmethod, ABCMeta
 
 
-class BaseSensor(ABC):
+class BaseSensor():
     """
     Base Sensor class.
     Sensor-specific get_obs method is implemented in subclasses
     """
-
+    __metaclass__ = ABCMeta
     def __init__(self, env):
         self.config = env.config
 

gibson2/sensors/sensor_noise_base.py

@@ -1,12 +1,12 @@
-from abc import abstractmethod, ABC
+from abc import abstractmethod, ABCMeta
 
 
-class BaseSensorNoise(ABC):
+class BaseSensorNoise():
     """
     Base SensorNoise class.
     Sensor noise-specific add_noise method is implemented in subclasses
     """
-
+    __metaclass__ = ABCMeta
     def __init__(self, env):
         self.config = env.config
 

gibson2/simulator.py

@@ -311,7 +311,7 @@ class Simulator:
             visual_object = None
             if type == p.GEOM_MESH:
                 filename = filename.decode('utf-8')
-                if (filename, (*dimensions)) not in self.visual_objects.keys():
+                if (filename, tuple(dimensions)) not in self.visual_objects.keys():
                     self.renderer.load_object(filename,
                                               transform_orn=rel_orn,
                                               transform_pos=rel_pos,
@@ -319,9 +319,9 @@ class Simulator:
                                               scale=np.array(dimensions),
                                               texture_scale=texture_scale,
                                               load_texture=load_texture)
-                    self.visual_objects[(filename, (*dimensions))
+                    self.visual_objects[(filename, tuple(dimensions))
                                         ] = len(self.renderer.visual_objects) - 1
-                visual_object = self.visual_objects[(filename, (*dimensions))]
+                visual_object = self.visual_objects[(filename, tuple(dimensions))]
             elif type == p.GEOM_SPHERE:
                 filename = os.path.join(
                     gibson2.assets_path, 'models/mjcf_primitives/sphere8.obj')
@@ -404,7 +404,7 @@ class Simulator:
             id, link_id, type, dimensions, filename, rel_pos, rel_orn, color = shape[:8]
             if type == p.GEOM_MESH:
                 filename = filename.decode('utf-8')
-                if (filename, (*dimensions)) not in self.visual_objects.keys():
+                if (filename, tuple(dimensions)) not in self.visual_objects.keys():
                     overwrite_material = None
                     if visual_mesh_to_material is not None and filename in visual_mesh_to_material:
                         overwrite_material = visual_mesh_to_material[filename]
@@ -415,10 +415,10 @@ class Simulator:
                         input_kd=color[:3],
                         scale=np.array(dimensions),
                         overwrite_material=overwrite_material)
-                    self.visual_objects[(filename, (*dimensions))
+                    self.visual_objects[(filename, tuple(dimensions))
                                         ] = len(self.renderer.visual_objects) - 1
                 visual_objects.append(
-                    self.visual_objects[(filename, (*dimensions))])
+                    self.visual_objects[(filename, tuple(dimensions))])
                 link_ids.append(link_id)
             elif type == p.GEOM_SPHERE:
                 filename = os.path.join(
@@ -496,16 +496,16 @@ class Simulator:
             id, link_id, type, dimensions, filename, rel_pos, rel_orn, color = shape[:8]
             if type == p.GEOM_MESH:
                 filename = filename.decode('utf-8')
-                if (filename, (*dimensions)) not in self.visual_objects.keys():
+                if (filename, tuple(dimensions)) not in self.visual_objects.keys():
                     self.renderer.load_object(filename,
                                               transform_orn=rel_orn,
                                               transform_pos=rel_pos,
                                               input_kd=color[:3],
                                               scale=np.array(dimensions))
-                    self.visual_objects[(filename, (*dimensions))
+                    self.visual_objects[(filename, tuple(dimensions))
                                         ] = len(self.renderer.visual_objects) - 1
                 visual_objects.append(
-                    self.visual_objects[(filename, (*dimensions))])
+                    self.visual_objects[(filename, tuple(dimensions))])
                 link_ids.append(link_id)
             elif type == p.GEOM_SPHERE:
                 filename = os.path.join(

gibson2/tasks/task_base.py

@@ -1,13 +1,13 @@
-from abc import abstractmethod, ABC
+from abc import abstractmethod, ABCMeta
 
 
-class BaseTask(ABC):
+class BaseTask():
     """
     Base Task class.
     Task-specific reset_scene, reset_agent, get_task_obs, step methods are implemented in subclasses
     Subclasses are expected to populate self.reward_functions and self.termination_conditions
     """
-
+    __metaclass__ = ABCMeta
     def __init__(self, env):
         self.config = env.config
         self.reward_functions = []

gibson2/termination_conditions/max_collision.py

@@ -1,4 +1,3 @@
-from abc import abstractmethod, ABC
 from gibson2.termination_conditions.termination_condition_base import BaseTerminationCondition
 
 

gibson2/termination_conditions/termination_condition_base.py

@@ -1,11 +1,12 @@
-from abc import abstractmethod, ABC
+from abc import abstractmethod, ABCMeta
 
 
-class BaseTerminationCondition(ABC):
+class BaseTerminationCondition():
     """
     Base TerminationCondition class
     Condition-specific get_termination method is implemented in subclasses
     """
+    __metaclass__ = ABCMeta
 
     def __init__(self, config):
         self.config = config

gibson2/utils/motion_planning_wrapper.py

@@ -36,11 +36,11 @@ class MotionPlanningWrapper(object):
     """
 
     def __init__(self,
-                 env: iGibsonEnv = None,
-                 base_mp_algo: str = 'birrt',
-                 arm_mp_algo: str = 'birrt',
-                 optimize_iter: int = 0,
-                 fine_motion_plan: bool = True):
+                 env=None,
+                 base_mp_algo='birrt',
+                 arm_mp_algo='birrt',
+                 optimize_iter=0,
+                 fine_motion_plan=True):
         """
         Get planning related parameters.
         """

setup.py

@@ -13,7 +13,7 @@ import subprocess
 import platform
 import codecs
 import platform
-
+import sys
 
 use_clang = False
 
@@ -105,8 +105,13 @@ class PostInstallCommand(install):
                 check_call("bash realenv/envs/build.sh".split())
                 install.run(self)
 '''
-with open("README.md", "r", encoding="utf-8") as fh:
-    long_description = fh.read()
+if sys.version_info.major == 3:
+    with open("README.md", "r", encoding="utf-8") as fh:
+        long_description = fh.read()
+else:
+    # for python2
+    with open("README.md", "r") as fh:
+        long_description = fh.read()
 
 setup(
     name='gibson2',
@@ -137,7 +142,7 @@ setup(
             'future',
             'trimesh',
             'sphinx_markdown_tables',
-            'sphinx==2.2.1',
+            'sphinx>=1.8.0',
             'recommonmark',
             'sphinx_rtd_theme'
     ],