Internal changes.

PiperOrigin-RevId: 479078736
google-research · Oct 5, 2022 · 52879fc · 52879fc
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diff --git a/ravens/__init__.py b/ravens/__init__.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/agents/__init__.py b/ravens/agents/__init__.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/agents/conv_mlp.py b/ravens/agents/conv_mlp.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/agents/dummy.py b/ravens/agents/dummy.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/agents/form2fit.py b/ravens/agents/form2fit.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/agents/gt_state.py b/ravens/agents/gt_state.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/agents/gt_state_2_step.py b/ravens/agents/gt_state_2_step.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/agents/transporter.py b/ravens/agents/transporter.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/agents/transporter_6dof.py b/ravens/agents/transporter_6dof.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/dataset.py b/ravens/dataset.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/demos.py b/ravens/demos.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/environments/__init__.py b/ravens/environments/__init__.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/environments/environment.py b/ravens/environments/environment.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/environments/environment_test.py b/ravens/environments/environment_test.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/models/__init__.py b/ravens/models/__init__.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/models/attention.py b/ravens/models/attention.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/models/conv_mlp.py b/ravens/models/conv_mlp.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/models/gt_state.py b/ravens/models/gt_state.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/models/matching.py b/ravens/models/matching.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/models/mdn_utils.py b/ravens/models/mdn_utils.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/models/regression.py b/ravens/models/regression.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/models/resnet.py b/ravens/models/resnet.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/models/transport.py b/ravens/models/transport.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/models/transport_6dof.py b/ravens/models/transport_6dof.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/models/transport_ablation.py b/ravens/models/transport_ablation.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/models/transport_goal.py b/ravens/models/transport_goal.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/plot.py b/ravens/plot.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/__init__.py b/ravens/tasks/__init__.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/align_box_corner.py b/ravens/tasks/align_box_corner.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/assembling_kits.py b/ravens/tasks/assembling_kits.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/block_insertion.py b/ravens/tasks/block_insertion.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/cameras.py b/ravens/tasks/cameras.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/grippers.py b/ravens/tasks/grippers.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/manipulating_rope.py b/ravens/tasks/manipulating_rope.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/packing_boxes.py b/ravens/tasks/packing_boxes.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/palletizing_boxes.py b/ravens/tasks/palletizing_boxes.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/place_red_in_green.py b/ravens/tasks/place_red_in_green.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/planners.py b/ravens/tasks/planners.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/primitives.py b/ravens/tasks/primitives.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/stack_block_pyramid.py b/ravens/tasks/stack_block_pyramid.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/sweeping_piles.py b/ravens/tasks/sweeping_piles.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/task.py b/ravens/tasks/task.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -29,6 +29,7 @@
 from ravens.tasks.grippers import Suction
 from ravens.utils import utils
 
+import six
 import pybullet as p
 
 
@@ -383,6 +384,7 @@ def fill_template(self, template, replace):
       file.write(fdata)
     return fname
 
+
   def get_random_size(self, min_x, max_x, min_y, max_y, min_z, max_z):
     """Get random box size."""
     size = np.random.rand(3)

diff --git a/ravens/tasks/tasks_test.py b/ravens/tasks/tasks_test.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/tasks/towers_of_hanoi.py b/ravens/tasks/towers_of_hanoi.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/test.py b/ravens/test.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/train.py b/ravens/train.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/utils/__init__.py b/ravens/utils/__init__.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/utils/pybullet_utils.py b/ravens/utils/pybullet_utils.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/ravens/utils/utils.py b/ravens/utils/utils.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/setup.py b/setup.py
@@ -1,5 +1,5 @@
 # coding=utf-8
-# Copyright 2021 The Ravens Authors.
+# Copyright 2022 The Ravens Authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.