Dropping Python 2 support.

.travis.yml

@@ -22,11 +22,6 @@
 language: python
 
 matrix:
-  include:
-    - name: "Python 2.7 on Xenial Linux"
-      python: 2.7
-      dist: xenial
-
     - name: "Python 3.5 on Xenial Linux"
       python: 3.5
       dist: xenial

README.md

@@ -1,3 +1,5 @@
+## **Python 2.x support has officially been dropped.**
+
 # Berkeley AUTOLAB's GQCNN Package
 <p>
    <a href="https://travis-ci.org/BerkeleyAutomation/gqcnn/">
@@ -10,10 +12,7 @@
        <img alt="Software License" src="https://img.shields.io/badge/license-REGENTS-brightgreen.svg">
    </a>
    <a>
-       <img alt="Python 2 Version" src="https://img.shields.io/badge/python-2.7-yellow.svg">
-   </a>
-   <a>
-       <img alt="Python 2 Version" src="https://img.shields.io/badge/python-3.5%20%7C%203.6%20%7C%203.7-yellowgreen.svg">
+       <img alt="Python 3 Versions" src="https://img.shields.io/badge/python-3.5%20%7C%203.6%20%7C%203.7-yellow.svg">
    </a>
 </p>
 

docker/cpu/Dockerfile

@@ -10,9 +10,7 @@ ARG work_dir=/root/Workspace
 RUN apt-get update && apt-get install -y \
         build-essential \
         python3 \
-        python-dev \
         python3-dev \
-        python-tk \
         python3-tk \
         python-opengl \
         curl \
@@ -33,9 +31,6 @@ RUN curl -L http://download.osgeo.org/libspatialindex/spatialindex-src-1.8.5.tar
     cd ..
 
 # Install pip (`apt-get install python-pip` causes trouble w/ networkx).
-RUN curl -O https://bootstrap.pypa.io/get-pip.py && \
-	python get-pip.py && \
-	rm get-pip.py
 RUN curl -O https://bootstrap.pypa.io/get-pip.py && \
 	python3 get-pip.py && \
 	rm get-pip.py
@@ -50,14 +45,11 @@ WORKDIR ${work_dir}
 ADD docker/gqcnn.tar .
 
 # This is because `python setup.py develop` skips `install_requires` (I think).
-RUN python -m pip install -r gqcnn/requirements/p2/cpu_requirements.txt
-RUN python3 -m pip install -r gqcnn/requirements/p3/cpu_requirements.txt
+RUN python3 -m pip install -r gqcnn/requirements/cpu_requirements.txt
 
 # Install the library in editable mode because it's more versatile (in case we want to develop or if users want to modify things)
 # Keep the egg outside of the library in site-packages in case we want to mount the library (overwriting it) for development with docker
 ENV PYTHONPATH ${work_dir}/gqcnn
-WORKDIR /usr/local/lib/python2.7/site-packages/
-RUN python ${work_dir}/gqcnn/setup.py develop --docker
 WORKDIR /usr/local/lib/python3.5/site-packages/
 RUN python3 ${work_dir}/gqcnn/setup.py develop --docker
 

docker/gpu/Dockerfile

@@ -10,9 +10,7 @@ ARG work_dir=/root/Workspace
 RUN apt-get update && apt-get install -y \
         build-essential \
         python3 \
-        python-dev \
         python3-dev \
-        python-tk \
         python3-tk \
         python-opengl \
         curl \
@@ -33,9 +31,6 @@ RUN curl -L http://download.osgeo.org/libspatialindex/spatialindex-src-1.8.5.tar
     cd ..
 
 # Install pip (`apt-get install python-pip` causes trouble w/ networkx).
-RUN curl -O https://bootstrap.pypa.io/get-pip.py && \
-	python get-pip.py && \
-	rm get-pip.py
 RUN curl -O https://bootstrap.pypa.io/get-pip.py && \
 	python3 get-pip.py && \
 	rm get-pip.py
@@ -50,16 +45,13 @@ WORKDIR ${work_dir}
 ADD docker/gqcnn.tar .
 
 # This is because `python setup.py develop` skips install_requires (I think) and also because we want to explicitly use the GPU requirements.
-RUN python -m pip install -r gqcnn/requirements/p2/gpu_requirements.txt
-RUN python3 -m pip install -r gqcnn/requirements/p3/gpu_requirements.txt
+RUN python3 -m pip install -r gqcnn/requirements/gpu_requirements.txt
 
 # Install the library in editable mode because it's more versatile (in case we want to develop or if users want to modify things)
 # Keep the egg outside of the library in site-packages in case we want to mount the library (overwriting it) for development with docker
 ENV PYTHONPATH ${work_dir}/gqcnn
-WORKDIR /usr/local/lib/python2.7/site-packages/
-RUN python ${work_dir}/gqcnn/setup.py develop --docker
 WORKDIR /usr/local/lib/python3.5/site-packages/
 RUN python3 ${work_dir}/gqcnn/setup.py develop --docker
 
-# Move to the base library dir 
+# Move to the base library dir
 WORKDIR ${work_dir}/gqcnn

docs/source/install/install.rst

@@ -4,7 +4,7 @@ Prerequisites
 Python
 """"""
 
-The `gqcnn` package has only been tested with `Python 2.7`, `Python 3.5`, `Python 3.6`, and `Python 3.7`.
+The `gqcnn` package has only been tested with `Python 3.5`, `Python 3.6`, and `Python 3.7`.
 
 Ubuntu
 """"""

examples/antipodal_grasp_sampling.py

@@ -30,10 +30,6 @@
 ------
 Jeff Mahler
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
-
 import argparse
 import os
 

examples/policy.py

@@ -31,10 +31,6 @@
 ------
 Jeff Mahler & Vishal Satish
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
-
 import argparse
 import json
 import os

examples/policy_ros.py

@@ -29,10 +29,6 @@
 ------
 Jeff Mahler
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
-
 import argparse
 import logging
 import numpy as np

examples/policy_with_image_proc.py

@@ -29,10 +29,6 @@
 ------
 Jeff Mahler
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
-
 import argparse
 import os
 import time

gqcnn/__init__.py

@@ -22,10 +22,6 @@
 HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
 MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
-
 from .model import get_gqcnn_model, get_fc_gqcnn_model
 from .training import get_gqcnn_trainer
 from .grasping import (RobustGraspingPolicy, UniformRandomGraspingPolicy,

gqcnn/analysis/__init__.py

@@ -22,10 +22,6 @@
 HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
 MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
-
 from .analyzer import GQCNNAnalyzer
 
 __all__ = ["GQCNNAnalyzer"]

gqcnn/analysis/analyzer.py

@@ -28,10 +28,6 @@
 ------
 Jeff Mahler
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
-
 import json
 import logging
 import os

gqcnn/grasping/__init__.py

@@ -22,10 +22,6 @@
 HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
 MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
-
 from .grasp import Grasp2D, SuctionPoint2D, MultiSuctionPoint2D
 from .grasp_quality_function import (GraspQualityFunctionFactory,
                                      GQCnnQualityFunction)

gqcnn/grasping/actions.py

@@ -28,22 +28,16 @@
 ------
 Jeff Mahler
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
+from abc import ABC, abstractmethod
 
-from abc import ABCMeta, abstractmethod
-
-from future.utils import with_metaclass
 import numpy as np
 
 from autolab_core import Point
 
 from .grasp import Grasp2D, SuctionPoint2D, MultiSuctionPoint2D
 
-
-class Action(with_metaclass(ABCMeta, object)):
-    """Abstract action class.
+class Action(object):
+    """Base action class.
 
     Attributes
     ----------
@@ -78,8 +72,8 @@ class NoAction(Action):
     pass
 
 
-class GraspAction3D(with_metaclass(ABCMeta, Action)):
-    """Abstract grasp class with grasp specified as an end-effector pose.
+class GraspAction3D(ABC, Action):
+    """Base grasp class with grasp specified as an end-effector pose.
 
     Attributes
     ----------

gqcnn/grasping/constraint_fn.py

@@ -28,17 +28,11 @@
 ------
 Jeff Mahler
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
+from abc import ABC, abstractmethod
 
-from abc import ABCMeta, abstractmethod
-
-from future.utils import with_metaclass
 import numpy as np
 
-
-class GraspConstraintFn(with_metaclass(ABCMeta, object)):
+class GraspConstraintFn(ABC):
     """Abstract constraint functions for grasp sampling."""
 
     def __init__(self, config):

gqcnn/grasping/grasp.py

@@ -28,10 +28,6 @@
 ------
 Jeff Mahler
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
-
 import numpy as np
 
 from autolab_core import Point, RigidTransform

gqcnn/grasping/grasp_quality_function.py

@@ -29,15 +29,10 @@
 -------
 Jason Liu & Jeff Mahler
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
-
-from abc import ABCMeta, abstractmethod
+from abc import ABC, abstractmethod
 from time import time
 
 import cv2
-from future.utils import with_metaclass
 import matplotlib.pyplot as plt
 import numpy as np
 
@@ -49,8 +44,7 @@
 from .grasp import SuctionPoint2D
 from ..utils import GeneralConstants, GripperMode
 
-
-class GraspQualityFunction(with_metaclass(ABCMeta, object)):
+class GraspQualityFunction(ABC):
     """Abstract grasp quality class."""
 
     def __init__(self):

gqcnn/grasping/image_grasp_sampler.py

@@ -29,15 +29,10 @@
 ------
 Jeff Mahler & Sherdil Niyaz
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
-
-from abc import ABCMeta, abstractmethod
+from abc import ABC, abstractmethod
 import random
 from time import time
 
-from future.utils import with_metaclass
 import matplotlib.pyplot as plt
 import numpy as np
 import scipy.ndimage.filters as snf
@@ -74,7 +69,7 @@ class DepthSamplingMode(object):
     MAX = "max"
 
 
-class ImageGraspSampler(with_metaclass(ABCMeta, object)):
+class ImageGraspSampler(ABC):
     """Wraps image to crane grasp candidate generation for easy deployment of
     GQ-CNN.
 

gqcnn/grasping/policy/__init__.py

@@ -22,10 +22,6 @@
 HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
 MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
-
 from .fc_policy import (FullyConvolutionalGraspingPolicyParallelJaw,
                         FullyConvolutionalGraspingPolicySuction)
 from .policy import (RobustGraspingPolicy, CrossEntropyRobustGraspingPolicy,

gqcnn/grasping/policy/enums.py

@@ -28,11 +28,6 @@
 ------
 Vishal Satish
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
-
-
 class SamplingMethod(object):
     TOP_K = "top_k"
     UNIFORM = "uniform"

gqcnn/grasping/policy/fc_policy.py

@@ -28,14 +28,9 @@
 ------
 Vishal Satish
 """
-from __future__ import absolute_import
-from __future__ import division
-from __future__ import print_function
-
-from abc import abstractmethod, ABCMeta
+from abc import abstractmethod
 import os
 
-from future.utils import with_metaclass
 import matplotlib.pyplot as plt
 import numpy as np
 
@@ -49,9 +44,7 @@
 from .enums import SamplingMethod
 from .policy import GraspingPolicy, GraspAction
 
-
-class FullyConvolutionalGraspingPolicy(with_metaclass(ABCMeta,
-                                                      GraspingPolicy)):
+class FullyConvolutionalGraspingPolicy(GraspingPolicy):
     """Abstract grasp sampling policy class using Fully-Convolutional GQ-CNN
     network."""