Merge pull request #11 from Improbable-AI/qa

Minor changes to docs
Improbable-AI · Feb 11, 2020 · 5f9c6f2 · 5f9c6f2
2 parents 8889283 + 3a8bbd5
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diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -0,0 +1,31 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Desktop (please complete the following information):**
+ - OS: [e.g. iOS]
+ - Version [e.g. 22]
+
+**Additional context**
+Add any other context about the problem here.
diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md
@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.
diff --git a/README.md b/README.md
@@ -1,5 +1,8 @@
 # AIRobot
 
+[![Documentation Status](https://readthedocs.org/projects/airobot/badge/?version=latest)](https://airobot.readthedocs.io/en/latest/?badge=latest)
+[![License](https://img.shields.io/badge/license-MIT-blue.svg)](https://github.com/Improbable-AI/airobot/blob/master/LICENSE)
+
 AIRobot is a python library to interface with robots. It follows a similar architecture from [PyRobot](https://pyrobot.org).
 - [Citation](#citation)
 - [Installation](#installation)
@@ -10,6 +13,7 @@ AIRobot is a python library to interface with robots. It follows a similar archi
 - [Run Tests](#run-tests)
 - [License](#license)
 - [Coding Style](#coding-style)
+- [Acknowledgement](#acknowledgement)
 
 ## Citation
 
@@ -104,6 +108,8 @@ MIT license
 
 AIRobot uses [Google style](https://sphinxcontrib-napoleon.readthedocs.io/en/latest/example_google.html) for formatting docstrings. We use [Flake8](https://pypi.org/project/flake8/) to perform additional formatting and semantic checking of code.
 
+## Acknowledgement
 
+We gratefully acknowledge the support from Sony Research Grant and DARPA Machine Common Sense Program.
 
 
diff --git a/examples/ur5e/real/joint_position_control.py b/examples/ur5e/real/joint_position_control.py
@@ -1,7 +1,6 @@
 import time
 
 import airobot as ar
-from airobot import Robot
 
 
 def main():
@@ -23,7 +22,7 @@ def main():
     collision free (change the goal positions when use_urscript=True
     at your own risk).
     """
-    robot = Robot('ur5e_2f140', pb=False, use_cam=False)
+    robot = ar.Robot('ur5e_2f140', pb=False, use_cam=False)
     robot.arm.go_home()
 
     goal_pos = [0.5, -2, -1.1, -0.95, 1.7, -0.1]

diff --git a/examples/ur5e/real/pushing.py b/examples/ur5e/real/pushing.py
@@ -121,8 +121,6 @@ def draw_segments(pts, labels, core_samples_mask):
     print('Estimated number of clusters: %d' % n_clusters_)
     for k, col in zip(unique_labels, colors):
         if k == -1:
-            # Black used for noise.
-            col = [0, 0, 0, 1]
             continue
         class_member_mask = (labels == k)
 
@@ -262,7 +260,6 @@ def main():
             push(bot, reset_pos, z_lowest=args.z_min)
         except Exception as e:
             print(e)
-            pass
         time.sleep(1)
 
 

diff --git a/examples/ur5e/real/set_ee_pose.py b/examples/ur5e/real/set_ee_pose.py
@@ -1,7 +1,6 @@
 import time
 
 import airobot as ar
-from airobot import Robot
 
 
 def print_pose(robot):
@@ -42,7 +41,7 @@ def main():
     to be collision free (change the goal poses when use_urscript=True
     at your own risk).
     """
-    robot = Robot('ur5e_2f140', pb=False, use_cam=False)
+    robot = ar.Robot('ur5e_2f140', pb=False, use_cam=False)
     robot.arm.go_home()
     max_iter = 5
 
@@ -84,7 +83,7 @@ def main():
     robot.arm.set_comm_mode(use_urscript=True)
 
     goal_pos = [0.6, -0.4, 0.2]
-    success = robot.arm.set_ee_pose(goal_pos, wait=True)
+    robot.arm.set_ee_pose(goal_pos, wait=True)
     print_pose(robot)
 
 

diff --git a/examples/ur5e/sim/block_stacking.py b/examples/ur5e/sim/block_stacking.py
@@ -1,8 +1,8 @@
 import time
 
-import airobot as ar
 import numpy as np
 from airobot import Robot
+from airobot import log_warn
 from airobot.utils.common import euler2quat
 
 
@@ -14,7 +14,7 @@ def main():
     robot = Robot('ur5e_2f140')
     success = robot.arm.go_home()
     if not success:
-        ar.log_warn('Robot go_home failed!!!')
+        log_warn('Robot go_home failed!!!')
     ori = euler2quat([0, 0, np.pi / 2])
     robot.pb_client.load_urdf('table/table.urdf',
                               [.5, 0, 0.4],

diff --git a/examples/ur5e/sim/get_camera_images.py b/examples/ur5e/sim/get_camera_images.py
@@ -1,7 +1,7 @@
-import airobot as ar
 import matplotlib.pyplot as plt
 import numpy as np
 from airobot import Robot
+from airobot import log_info
 
 
 def main():
@@ -25,8 +25,8 @@ def main():
     plt.imshow(rgb)
     plt.figure()
     plt.imshow(depth * 25, cmap='gray', vmin=0, vmax=255)
-    ar.log_info('Maximum Depth (m): %f' % np.max(depth))
-    ar.log_info('Minimum Depth (m): %f' % np.min(depth))
+    log_info('Maximum Depth (m): %f' % np.max(depth))
+    log_info('Minimum Depth (m): %f' % np.min(depth))
     plt.figure()
     plt.imshow(seg)
     plt.show()

diff --git a/examples/ur5e/sim/get_joint_info.py b/examples/ur5e/sim/get_joint_info.py
@@ -1,6 +1,6 @@
-import airobot as ar
 import numpy as np
 from airobot import Robot
+from airobot import log_info
 
 
 def main():
@@ -10,22 +10,22 @@ def main():
     """
     robot = Robot('ur5e_2f140', pb_cfg={'gui': True})
     robot.arm.go_home()
-    ar.log_info('\nJoint positions for all actuated joints:')
+    log_info('\nJoint positions for all actuated joints:')
     jpos = robot.arm.get_jpos()
-    ar.log_info(np.round(jpos, decimals=3))
+    log_info(np.round(jpos, decimals=3))
     joint = 'shoulder_pan_joint'
-    ar.log_info('Joint [%s] position: %.3f' %
-                (joint, robot.arm.get_jpos('shoulder_pan_joint')))
-    ar.log_info('Joint velocities:')
+    log_info('Joint [%s] position: %.3f' %
+             (joint, robot.arm.get_jpos('shoulder_pan_joint')))
+    log_info('Joint velocities:')
     jvel = robot.arm.get_jvel()
-    ar.log_info(np.round(jvel, decimals=3))
-    ar.log_info('Joint torques:')
+    log_info(np.round(jvel, decimals=3))
+    log_info('Joint torques:')
     jtorq = robot.arm.get_jtorq()
-    ar.log_info(np.round(jtorq, decimals=3))
+    log_info(np.round(jtorq, decimals=3))
     robot.arm.eetool.close()
-    ar.log_info('Gripper position (close): %.3f' % robot.arm.eetool.get_pos())
+    log_info('Gripper position (close): %.3f' % robot.arm.eetool.get_pos())
     robot.arm.eetool.open()
-    ar.log_info('Gripper position (open): %.3f' % robot.arm.eetool.get_pos())
+    log_info('Gripper position (open): %.3f' % robot.arm.eetool.get_pos())
 
 
 if __name__ == '__main__':

diff --git a/examples/ur5e/sim/load_object.py b/examples/ur5e/sim/load_object.py
@@ -1,8 +1,8 @@
 import time
 
-import airobot as ar
 import numpy as np
 from airobot import Robot
+from airobot import log_info
 from airobot.utils.common import euler2quat
 
 
@@ -16,25 +16,25 @@ def main():
     robot.arm.go_home()
 
     ori = euler2quat([0, 0, np.pi / 2])
-    table_id = robot.pb_client.load_urdf('table/table.urdf',
-                                         [1, 0, 0.4],
-                                         ori,
-                                         scaling=0.9)
+    robot.pb_client.load_urdf('table/table.urdf',
+                              [1, 0, 0.4],
+                              ori,
+                              scaling=0.9)
     sphere_id = robot.pb_client.load_geom('sphere',
                                           size=0.05,
                                           mass=1,
                                           base_pos=[1, 0, 1.0],
                                           rgba=[0, 1, 0, 1])
-    box_id = robot.pb_client.load_geom('box',
-                                       size=0.05,
-                                       mass=1,
-                                       base_pos=[1, 0.12, 1.0],
-                                       rgba=[1, 0, 0, 1])
-    box_id2 = robot.pb_client.load_geom('box',
-                                        size=[0.06, 0.02, 0.03],
-                                        mass=1,
-                                        base_pos=[1.3, 0.12, 1.0],
-                                        rgba=[0, 0, 1, 1])
+    robot.pb_client.load_geom('box',
+                              size=0.05,
+                              mass=1,
+                              base_pos=[1, 0.12, 1.0],
+                              rgba=[1, 0, 0, 1])
+    robot.pb_client.load_geom('box',
+                              size=[0.06, 0.02, 0.03],
+                              mass=1,
+                              base_pos=[1.3, 0.12, 1.0],
+                              rgba=[0, 0, 1, 1])
     cylinder_id = robot.pb_client.load_geom('cylinder',
                                             size=[0.06, 0.08],
                                             mass=1,
@@ -47,19 +47,19 @@ def main():
                                         base_pos=[0.9, -0.4, 1.0],
                                         rgba=[0.5, 0.2, 1, 1])
     pos, quat, lin_vel, ang_vel = robot.pb_client.get_body_state(cylinder_id)
-    ar.log_info('Cylinder:')
-    ar.log_info('         position: %s' % np.array2string(pos,
+    log_info('Cylinder:')
+    log_info('         position: %s' % np.array2string(pos,
+                                                       precision=2))
+    log_info('         quaternion: %s' % np.array2string(quat,
+                                                         precision=2))
+    log_info('         linear vel: %s' % np.array2string(lin_vel,
+                                                         precision=2))
+    log_info('         angular vel: %s' % np.array2string(ang_vel,
                                                           precision=2))
-    ar.log_info('         quaternion: %s' % np.array2string(quat,
-                                                            precision=2))
-    ar.log_info('         linear vel: %s' % np.array2string(lin_vel,
-                                                            precision=2))
-    ar.log_info('         angular vel: %s' % np.array2string(ang_vel,
-                                                             precision=2))
-    ar.log_info('Removing sphere')
-    res = robot.pb_client.remove_body(sphere_id)
+    log_info('Removing sphere')
+    robot.pb_client.remove_body(sphere_id)
     time.sleep(2)
-    ar.log_info('Reset duck')
+    log_info('Reset duck')
     robot.pb_client.reset_body(duck_id, base_pos=[0.9, -0.4, 1.0],
                                base_quat=[0, 0, 0, 1],
                                lin_vel=[0, 2, 0],

diff --git a/examples/ur5e/sim/set_ee_pose.py b/examples/ur5e/sim/set_ee_pose.py
@@ -1,7 +1,7 @@
 import time
 
-import airobot as ar
 from airobot import Robot
+from airobot import log_info
 
 
 def main():
@@ -20,11 +20,11 @@ def main():
     robot.arm.set_ee_pose(tgt_pos, tgt_euler)
     time.sleep(1)
     pos, quat, rot, euler = robot.arm.get_ee_pose()
-    ar.log_info('End effector pose:')
-    ar.log_info('Position:')
-    ar.log_info(pos)
-    ar.log_info('Euler angles:')
-    ar.log_info(euler)
+    log_info('End effector pose:')
+    log_info('Position:')
+    log_info(pos)
+    log_info('Euler angles:')
+    log_info(euler)
 
 
 if __name__ == '__main__':

diff --git a/examples/ur5e/sim/ur_dual_cam.py b/examples/ur5e/sim/ur_dual_cam.py
@@ -4,10 +4,10 @@
 
 from copy import deepcopy
 
-import airobot as ar
 import matplotlib.pyplot as plt
 import numpy as np
 from airobot import Robot
+from airobot import log_info
 from airobot.sensor.camera.rgbdcam_pybullet import RGBDCameraPybullet
 from airobot.utils.common import ang_in_mpi_ppi
 from airobot.utils.common import clamp
@@ -173,13 +173,13 @@ def render(self, **kwargs):
 def main():
     env = URRobotGym(gui=False)
     ob = env.reset()
-    ar.log_info('\nThe action is a 5-dim vector A. \n'
-                'The range of each element is [-1, 1].\n'
-                'A[0] is dx, A[1] is dy, A[2] is dz;\n'
-                'A[3] is the delta of the gripper orientation;\n'
-                'A[4] is the gripper opening angle, \n'
-                '-1 means opening the gripper, \n'
-                '1 means closing the gripper.\n')
+    log_info('\nThe action is a 5-dim vector A. \n'
+             'The range of each element is [-1, 1].\n'
+             'A[0] is dx, A[1] is dy, A[2] is dz;\n'
+             'A[3] is the delta of the gripper orientation;\n'
+             'A[4] is the gripper opening angle, \n'
+             '-1 means opening the gripper, \n'
+             '1 means closing the gripper.\n')
     image = plt.imshow(ob, interpolation='none',
                        animated=True, label="cam")
     ax = plt.gca()

diff --git a/examples/yumi/sim/joint_position_control.py b/examples/yumi/sim/joint_position_control.py
@@ -2,15 +2,14 @@
 
 import airobot as ar
 import numpy as np
-from airobot import Robot
 
 
 def main():
     """
     This function demonstrates how to move the robot arm
     to the desired joint positions.
     """
-    robot = Robot('yumi_grippers')
+    robot = ar.Robot('yumi_grippers')
     robot.arm.go_home()
 
     robot.arm.right_arm.set_jpos(

diff --git a/examples/yumi/sim/set_ee_pose.py b/examples/yumi/sim/set_ee_pose.py
@@ -1,14 +1,13 @@
 import time
 
 import airobot as ar
-from airobot import Robot
 
 
 def main():
     """
     Move the robot end effector to the desired pose.
     """
-    robot = Robot('yumi_grippers')
+    robot = ar.Robot('yumi_grippers')
     robot.arm.go_home()
     tgt_pos = [0.35, 0.0, 0.2]
     robot.arm.set_ee_pose(tgt_pos, arm='right')