Merge pull request #12 from dyalab/feature/python-tutorial-fixes

Feature/python tutorial fixes

demo/tutorial/python/t0.0-vector.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 from amino import DVec
 

demo/tutorial/python/t0.1-matrix.py

@@ -1,6 +1,6 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
-from amino import DVec, DMat
+from amino import DMat
 
 
 # Helpers to print(headings)

demo/tutorial/python/t0.2-lls.py

@@ -1,6 +1,6 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
-from amino import DVec, DMat
+from amino import DMat
 
 
 def h1(name):

demo/tutorial/python/t1-rotation.py

@@ -1,7 +1,7 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
-from amino import Vec3, XAngle, YAngle, ZAngle, AxAng, EulerRPY, Quat, RotMat
 from math import pi
+from amino import Vec3, XAngle, YAngle, AxAng, Quat, RotMat
 
 
 def h1(name):

demo/tutorial/python/t2-tf.py

@@ -1,7 +1,7 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
-from amino import Vec3, XAngle, YAngle, ZAngle, AxAng, EulerRPY, Quat, RotMat, TfMat, DualQuat, QuatTrans
 from math import pi
+from amino import Vec3, YAngle, ZAngle, TfMat, DualQuat, QuatTrans
 
 
 def h1(name):

demo/tutorial/python/t3.0-scene.py

@@ -1,12 +1,12 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # File: t3-scene.py
 # =================
 #
 # Create a scene with a grid and three boxes.  Display the scene in
 # the viewer window.
 
-from amino import SceneWin, SceneGraph, Geom, QuatTrans, GeomOpt
+from amino import SceneWin, SceneGraph, Geom, QuatTrans
 
 # Create a window
 win = SceneWin(start=False)

demo/tutorial/python/t3.1-robot.py

@@ -1,13 +1,13 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # File: t3.1-robot.py
 # ===================
 #
 # Procedural construction of a robot scene.
 
-from amino import SceneWin, SceneGraph, Geom, GeomOpt, QuatTrans, Vec3, YAngle, XAngle
 from math import pi, cos
 from time import sleep
+from amino import SceneWin, SceneGraph, Geom, GeomOpt, Vec3, YAngle, XAngle
 
 
 def draw_robot(sg, parent):

demo/tutorial/python/t3.2-scenefile.py

@@ -1,19 +1,17 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # File: t3.2-scenefile.py
 # =======================
 #
 # Load a compiled scene plugin
 
-from amino import SceneWin, SceneGraph
 from math import pi, cos
 from time import sleep
 import os
+from amino import SceneWin, SceneGraph
 
 # Scene Parameters
-# Change scene_plugin based on your directory structure
-scene_plugin = ("%s/git/amino/demo/tutorial/plugin/scenefile/libscene.so" %
-                os.environ['HOME'])
+scene_plugin = ("{}/../plugin/scenefile/libscene.so".format(os.path.dirname(__file__)))
 scene_name = "example"
 
 # Create an (empty) scene graph

demo/tutorial/python/t3.2-urdf.py

@@ -1,19 +1,15 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # File: t3.2-urdf.py
 # ===================
 #
 # Loading a compiled scene plugin
 
-from amino import SceneWin, SceneGraph, Geom, GeomOpt, QuatTrans, Vec3, YAngle, XAngle
-from math import pi, cos
-from time import sleep
 import os
+from amino import SceneWin, SceneGraph, Geom
 
 # Scene Parameters
-# Change scene_plugin based on your directory structure
-scene_plugin = ("%s/git/amino/demo/tutorial/plugin/urdf/libbaxter-model.so" %
-                os.environ['HOME'])
+scene_plugin = ("{}/../plugin/urdf/libbaxter-model.so".format(os.path.dirname(__file__)))
 scene_name = "baxter"
 
 # Create an (empty) scene graph

demo/tutorial/python/t4.1-fk.py

@@ -1,19 +1,17 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # File: t4.1-fk.py
 # =======================
 #
 # Compute Forward Kinematics
 
-from amino import SceneWin, SceneGraph, SceneFK
 from math import pi, cos
 from time import sleep
 import os
+from amino import SceneWin, SceneGraph, SceneFK
 
 # Scene Parameters
-# Change scene_plugin based on your directory structure
-scene_plugin = (
-    "%s/git/amino/demo/tutorial/plugin/7dof/libscene.so" % os.environ['HOME'])
+scene_plugin = ("{}/../plugin/7dof/libscene.so".format(os.path.dirname(__file__)))
 scene_name = "7dof"
 
 # Create an (empty) scene graph

demo/tutorial/python/t4.2-dk.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # File: t4.2-dk.py
 # =======================
@@ -7,15 +7,13 @@
 #
 # Slide the end-effector forward and backward in the X-direction
 
-from amino import SceneWin, SceneGraph, Geom, SceneFK, SceneDK, TfVel, QuatTrans, Vec3, YAngle
 from math import pi, cos, sin
 from time import sleep
 import os
+from amino import SceneWin, SceneGraph, Geom, SceneFK, SceneDK, TfVel, QuatTrans, YAngle
 
 # Scene Parameters
-# Change scene_plugin based on your directory structure
-scene_plugin = (
-    "%s/git/amino/demo/tutorial/plugin/7dof/libscene.so" % os.environ['HOME'])
+scene_plugin = ("{}/../plugin/7dof/libscene.so".format(os.path.dirname(__file__)))
 scene_name = "7dof"
 
 # Create an (empty) scene graph

demo/tutorial/python/t4.3-ik.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # File: t4.3-ik.py
 # =======================
@@ -7,15 +7,13 @@
 #
 # Slide the end-effector forward and backward in the X-direction
 
-from amino import SceneWin, SceneGraph, SceneIK, QuatTrans, YAngle
 from math import pi
 from time import sleep
 import os
+from amino import SceneWin, SceneGraph, SceneIK, YAngle
 
 # Scene Parameters
-# Change scene_plugin based on your directory structure
-scene_plugin = (
-    "%s/git/amino/demo/tutorial/plugin/7dof/libscene.so" % os.environ['HOME'])
+scene_plugin = ("{}/../plugin/7dof/libscene.so".format(os.path.dirname(__file__)))
 scene_name = "7dof"
 
 # Create an (empty) scene graph

demo/tutorial/python/t5.1-collision-check.py

@@ -1,19 +1,17 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # File: t5.1-collision-check.py
 # =======================
 #
 # Collision Checking
 
-from amino import SceneWin, SceneGraph, SceneFK, SceneCollisionSet, SceneCollision
-from math import pi, cos, sin
+from math import pi, sin
 from time import sleep
 import os
+from amino import SceneWin, SceneGraph, SceneFK, SceneCollisionSet, SceneCollision
 
 # Scene Parameters
-# Change scene_plugin based on your directory structure
-scene_plugin = (
-    "%s/git/amino/demo/tutorial/plugin/7dof/libscene.so" % os.environ['HOME'])
+scene_plugin = ("{}/../plugin/7dof/libscene.so".format(os.path.dirname(__file__)))
 scene_name = "7dof"
 
 # Create an (empty) scene graph

demo/tutorial/python/t5.2-collision-dist.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # File: t5.2-collision-dist.py
 # ============================
@@ -8,15 +8,13 @@
 # Check collision distances and mark the closest points in the scene
 # viewer window.
 
-from amino import SceneWin, SceneGraph, SceneFK, SceneCollisionSet, SceneCollision, QuatTrans, Geom
-from math import pi, cos, sin
+from math import pi, sin
 from time import sleep
 import os
+from amino import SceneWin, SceneGraph, SceneFK, SceneCollision,  Geom
 
 # Scene Parameters
-# Change scene_plugin based on your directory structure
-scene_plugin = (
-    "%s/git/amino/demo/tutorial/plugin/7dof/libscene.so" % os.environ['HOME'])
+scene_plugin = ("{}/../plugin/7dof/libscene.so".format(os.path.dirname(__file__)))
 scene_name = "7dof"
 
 # We will mark the closest points in the scene with colored spheres.

demo/tutorial/python/t6.1-motion-planning.py

@@ -1,15 +1,12 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
-from amino import SceneGraph, SceneWin, SceneCollision, MotionPlan
 from math import pi
 import os
+from amino import SceneGraph, SceneCollision, MotionPlan
 
 
 # Compute Motion Plan
-
-
-scene_plugin = (
-    "%s/git/amino/demo/tutorial/plugin/urdf/libbaxter-model.so" % os.environ['HOME'])
+scene_plugin = ("{}/../plugin/urdf/libbaxter-model.so".format(os.path.dirname(__file__)))
 scene_name = "baxter"
 
 
@@ -43,4 +40,4 @@
         0 ]
 path = mp.motion_plan(start, goal, 5)
 
-[print(x) for x in path]
+_ = [print(x) for x in path]