Merge pull request #74 from BerkeleyAutomation/python3

Python 2/3 support and general cleanup.

.flake8

@@ -0,0 +1,5 @@
+[flake8]
+ignore = C408, E121, E123, E126, E226, E24, E704, W503, W504, W605
+exclude = docs/source/conf.py
+inline-quotes = "
+no-avoid-escape = 1

.style.yapf

@@ -0,0 +1,4 @@
+[style]
+based_on_style=pep8
+allow_split_before_dict_value=False
+join_multiple_lines=False

.travis.yml

@@ -0,0 +1,64 @@
+# Copyright ©2017. The Regents of the University of California (Regents).
+# All Rights Reserved. Permission to use, copy, modify, and distribute this
+# software and its documentation for educational, research, and not-for-profit
+# purposes, without fee and without a signed licensing agreement, is hereby
+# granted, provided that the above copyright notice, this paragraph and the
+# following two paragraphs appear in all copies, modifications, and
+# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
+# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
+# [email protected],
+# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
+
+# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
+# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
+# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
+# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
+# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
+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
+
+    - name: "Python 3.6 on Xenial Linux"
+      python: 3.6
+      dist: xenial
+
+    - name: "Python 3.7 on Xenial Linux"
+      python: 3.7
+      dist: xenial
+
+    - name: "Linter"
+      python: 3.7
+      dist: xenial
+      before_install: []
+      install: []
+      script:
+        - pip install yapf==0.27.0  # Must use specific version.
+        - pip install flake8 flake8-comprehensions flake8-quotes==2.0.0
+        - ./ci/travis/format.sh --all  # Should exit with 0 for no diffs.
+        - flake8
+
+before_install:
+  - sudo apt-get update
+  - sudo apt-get install -y python-opengl  # For GLU.
+
+install: 
+  - pip install .
+
+script:
+  - python -c "import gqcnn"
+
+notifications:
+  email: false

CMakeLists.txt

@@ -1,3 +1,25 @@
+# Copyright ©2017. The Regents of the University of California (Regents).
+# All Rights Reserved. Permission to use, copy, modify, and distribute this
+# software and its documentation for educational, research, and not-for-profit
+# purposes, without fee and without a signed licensing agreement, is hereby
+# granted, provided that the above copyright notice, this paragraph and the
+# following two paragraphs appear in all copies, modifications, and
+# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
+# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
+# [email protected],
+# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
+
+# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
+# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
+# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
+# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
+# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
+
 cmake_minimum_required(VERSION 2.8.3)
 project(gqcnn)
 

README.md

@@ -1,8 +1,10 @@
 # Berkeley AUTOLAB's GQCNN Package
 <p>
+    <a><img alt="Build Status" src="https://travis-ci.org/BerkeleyAutomation/gqcnn.svg?branch=master"></a>
     <a href="https://github.com/BerkeleyAutomation/gqcnn/releases/latest"><img alt="Release" src="https://img.shields.io/github/release/BerkeleyAutomation/gqcnn.svg?style=flat"></a>
     <a href="https://github.com/BerkeleyAutomation/gqcnn/blob/master/LICENSE"><img alt="Software License" src="https://img.shields.io/badge/license-REGENTS-brightgreen.svg"></a>
-    <a><img alt="Python 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-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"></a>
 </p>
 
 ## Package Overview

cfg/examples/antipodal_grasp_sampling.yaml

@@ -1,3 +1,25 @@
+# Copyright ©2017. The Regents of the University of California (Regents).
+# All Rights Reserved. Permission to use, copy, modify, and distribute this
+# software and its documentation for educational, research, and not-for-profit
+# purposes, without fee and without a signed licensing agreement, is hereby
+# granted, provided that the above copyright notice, this paragraph and the
+# following two paragraphs appear in all copies, modifications, and
+# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
+# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
+# [email protected],
+# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
+
+# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
+# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
+# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
+# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
+# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
+
 # policy params
 policy:
   # general params

cfg/examples/fc_gqcnn_pj.yaml

@@ -1,3 +1,25 @@
+# Copyright ©2017. The Regents of the University of California (Regents).
+# All Rights Reserved. Permission to use, copy, modify, and distribute this
+# software and its documentation for educational, research, and not-for-profit
+# purposes, without fee and without a signed licensing agreement, is hereby
+# granted, provided that the above copyright notice, this paragraph and the
+# following two paragraphs appear in all copies, modifications, and
+# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
+# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
+# [email protected],
+# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
+
+# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
+# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
+# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
+# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
+# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
+
 policy:
   type: fully_conv_pj
 

cfg/examples/fc_gqcnn_suction.yaml

@@ -1,3 +1,25 @@
+# Copyright ©2017. The Regents of the University of California (Regents).
+# All Rights Reserved. Permission to use, copy, modify, and distribute this
+# software and its documentation for educational, research, and not-for-profit
+# purposes, without fee and without a signed licensing agreement, is hereby
+# granted, provided that the above copyright notice, this paragraph and the
+# following two paragraphs appear in all copies, modifications, and
+# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
+# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
+# [email protected],
+# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
+
+# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
+# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
+# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
+# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
+# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
+
 policy:
   type: fully_conv_suction
 

cfg/examples/gqcnn_pj.yaml

@@ -1,3 +1,25 @@
+# Copyright ©2017. The Regents of the University of California (Regents).
+# All Rights Reserved. Permission to use, copy, modify, and distribute this
+# software and its documentation for educational, research, and not-for-profit
+# purposes, without fee and without a signed licensing agreement, is hereby
+# granted, provided that the above copyright notice, this paragraph and the
+# following two paragraphs appear in all copies, modifications, and
+# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
+# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
+# [email protected],
+# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
+
+# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
+# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
+# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
+# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
+# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
+
 policy:
   # optimization params
   num_seed_samples: 128

cfg/examples/gqcnn_suction.yaml

@@ -1,3 +1,25 @@
+# Copyright ©2017. The Regents of the University of California (Regents).
+# All Rights Reserved. Permission to use, copy, modify, and distribute this
+# software and its documentation for educational, research, and not-for-profit
+# purposes, without fee and without a signed licensing agreement, is hereby
+# granted, provided that the above copyright notice, this paragraph and the
+# following two paragraphs appear in all copies, modifications, and
+# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
+# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
+# [email protected],
+# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
+
+# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
+# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
+# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
+# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
+# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
+
 policy:
   # optimization params
   num_seed_samples: 200

cfg/examples/replication/dex-net_2.0.yaml

@@ -1,3 +1,25 @@
+# Copyright ©2017. The Regents of the University of California (Regents).
+# All Rights Reserved. Permission to use, copy, modify, and distribute this
+# software and its documentation for educational, research, and not-for-profit
+# purposes, without fee and without a signed licensing agreement, is hereby
+# granted, provided that the above copyright notice, this paragraph and the
+# following two paragraphs appear in all copies, modifications, and
+# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
+# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
+# [email protected],
+# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
+
+# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
+# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
+# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
+# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
+# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
+
 # policy params
 policy:
   # optimization params

cfg/examples/replication/dex-net_2.1.yaml

@@ -1,3 +1,25 @@
+# Copyright ©2017. The Regents of the University of California (Regents).
+# All Rights Reserved. Permission to use, copy, modify, and distribute this
+# software and its documentation for educational, research, and not-for-profit
+# purposes, without fee and without a signed licensing agreement, is hereby
+# granted, provided that the above copyright notice, this paragraph and the
+# following two paragraphs appear in all copies, modifications, and
+# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
+# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
+# [email protected],
+# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
+
+# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
+# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
+# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
+# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
+# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
+
 # policy params
 policy:
   # optimization params

cfg/examples/replication/dex-net_3.0.yaml

@@ -1,3 +1,25 @@
+# Copyright ©2017. The Regents of the University of California (Regents).
+# All Rights Reserved. Permission to use, copy, modify, and distribute this
+# software and its documentation for educational, research, and not-for-profit
+# purposes, without fee and without a signed licensing agreement, is hereby
+# granted, provided that the above copyright notice, this paragraph and the
+# following two paragraphs appear in all copies, modifications, and
+# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
+# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
+# [email protected],
+# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
+
+# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
+# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
+# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
+# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
+# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
+
 # policy params
 policy:
   # optimization params

cfg/examples/replication/dex-net_4.0_fc_pj.yaml

@@ -1,3 +1,25 @@
+# Copyright ©2017. The Regents of the University of California (Regents).
+# All Rights Reserved. Permission to use, copy, modify, and distribute this
+# software and its documentation for educational, research, and not-for-profit
+# purposes, without fee and without a signed licensing agreement, is hereby
+# granted, provided that the above copyright notice, this paragraph and the
+# following two paragraphs appear in all copies, modifications, and
+# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
+# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
+# [email protected],
+# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
+
+# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
+# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
+# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
+# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
+# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
+
 policy:
   type: fully_conv_pj
 

cfg/examples/replication/dex-net_4.0_fc_suction.yaml

@@ -1,3 +1,25 @@
+# Copyright ©2017. The Regents of the University of California (Regents).
+# All Rights Reserved. Permission to use, copy, modify, and distribute this
+# software and its documentation for educational, research, and not-for-profit
+# purposes, without fee and without a signed licensing agreement, is hereby
+# granted, provided that the above copyright notice, this paragraph and the
+# following two paragraphs appear in all copies, modifications, and
+# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
+# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
+# [email protected],
+# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
+
+# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
+# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
+# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
+# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
+# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
+
 policy:
   type: fully_conv_suction