Run Director using Python 3 (RobotLocomotion#12296)

lcmtypes/BUILD.bazel

@@ -5,7 +5,6 @@ package(default_visibility = ["//visibility:public"])
 load(
     "@drake//tools/install:install.bzl",
     "install",
-    "install_py2_duplicates_if_py3",
 )
 load(
     "@drake//tools/skylark:drake_cc.bzl",
@@ -384,13 +383,6 @@ install(
     visibility = ["//visibility:private"],
 )
 
-# For Python2-only `drake_visualizer`.
-install_py2_duplicates_if_py3(
-    name = "install_py2_duplicates_if_py3",
-    targets = [":lcmtypes_drake_py"],
-    visibility = ["//visibility:private"],
-)
-
 install(
     name = "install",
     install_tests = [":test/drake-lcm-spy_install_test.py"],
@@ -406,7 +398,6 @@ install(
     },
     deps = [
         ":install_drake_cc_headers",
-        ":install_py2_duplicates_if_py3",
         "//tools/workspace/optitrack_driver:install",
         "@lcm//:install",
         "@lcmtypes_bot2_core//:install",

setup/BUILD.bazel

@@ -12,7 +12,6 @@ exports_files([
     "ubuntu/binary_distribution/packages-bionic.txt",
     "mac/source_distribution/requirements.txt",
     "mac/source_distribution/Brewfile",
-    "mac/binary_distribution/requirements-py2.txt",
     "mac/binary_distribution/requirements.txt",
     "mac/binary_distribution/Brewfile",
 ])
@@ -24,7 +23,6 @@ install_files(
         "//tools/cc_toolchain:apple": [
             "mac/binary_distribution/Brewfile",
             "mac/binary_distribution/install_prereqs.sh",
-            "mac/binary_distribution/requirements-py2.txt",
             "mac/binary_distribution/requirements.txt",
         ],
         "//tools/cc_toolchain:linux": [

setup/mac/binary_distribution/install_prereqs.sh

@@ -26,16 +26,9 @@ brew uninstall --force dreal
 brew untap dreal/dreal &>/dev/null || true
 /usr/local/bin/brew bundle --file="${BASH_SOURCE%/*}/Brewfile"
 
-if ! command -v /usr/local/bin/pip2 &>/dev/null; then
-  echo 'ERROR: pip2 is NOT installed. The post-install step for the python@2 formula may have failed.' >&2
-  exit 2
-fi
-
-/usr/local/bin/pip2 install --upgrade --requirement "${BASH_SOURCE%/*}/requirements-py2.txt"
-
 if ! command -v /usr/local/bin/pip3 &>/dev/null; then
   echo 'ERROR: pip3 is NOT installed. The post-install step for the python formula may have failed.' >&2
-  exit 3
+  exit 2
 fi
 
 /usr/local/bin/pip3 install --upgrade --requirement "${BASH_SOURCE%/*}/requirements.txt"

setup/mac/binary_distribution/requirements.txt

@@ -3,7 +3,6 @@ matplotlib
 pydot
 PyYAML
 pyzmq
-six
 tornado
 u-msgpack-python
 virtualenv

setup/ubuntu/binary_distribution/packages-bionic.txt

@@ -30,19 +30,12 @@ libtinyxml2.6.2v5
 libxml2
 libxt6
 libyaml-cpp0.5v5
-python
-python-lxml
-python-matplotlib
-python-numpy
-python-scipy
-python-yaml
 python3
 python3-lxml
 python3-matplotlib
 python3-numpy
 python3-pydot
 python3-scipy
-python3-six
 python3-tk
 python3-tornado
 python3-u-msgpack

tools/BUILD.bazel

@@ -23,7 +23,6 @@ py_binary(
     data = [
         "//examples:prod_models",
         "@drake_visualizer",
-        "@drake_visualizer//:lcm_python2",
     ],
     main = "//tools/workspace/drake_visualizer:drake_visualizer.py",
     # Python libraries to import.

tools/install/install.bzl

@@ -689,40 +689,6 @@ Args:
     allowed_externals: List of external packages whose files may be installed.
 """
 
-def install_py2_duplicates_if_py3(
-        name,
-        targets = None,
-        py_dest = "@PYTHON_SITE_PACKAGES@",
-        **kwargs):
-    """
-    Creates a duplicate install, only if Python3 is Bazel's version of Python.
-    Otherwise, creates an empty install target.
-
-    For `py_dest`, `@PYTHON_SITE_PACKAGES@` will be replaced with
-    `lib/python2.7/site-packages`.
-
-    This is presently only used to support Python2-only `drake_visualizer`.
-    """
-    cur_major, _ = PYTHON_VERSION.split(".")
-    if cur_major == "3":
-        py2_targets = targets
-    else:
-        py2_targets = []
-
-    # Assuming that we will only have one supported major-minor version of
-    # Python2.
-    py2_major_minor = "2.7"
-    py2_dest = py_dest.replace(
-        "@PYTHON_SITE_PACKAGES@",
-        "lib/python{}/site-packages".format(py2_major_minor),
-    )
-    install(
-        name = name,
-        targets = py2_targets,
-        py_dest = py2_dest,
-        **kwargs
-    )
-
 #------------------------------------------------------------------------------
 # Generate information to install files to specified destination.
 def _install_files_impl(ctx):

tools/workspace/drake_visualizer/drake_visualizer.py

@@ -1,5 +1,3 @@
-from __future__ import print_function
-
 import argparse
 import os
 from os.path import exists, join
@@ -71,7 +69,7 @@ def extract_use_builtin_scripts(argv):
     prepend_path("LD_LIBRARY_PATH", "external/vtk/lib")
     # TODO(eric.cousineau): Ensure that Drake Visualizer works even when Bazel
     # uses a separate version of Python.
-    prepend_path("PYTHONPATH", "external/vtk/lib/python2.7/site-packages")
+    prepend_path("PYTHONPATH", "external/vtk/lib/python3.6/site-packages")
 elif sys.platform == "darwin":
     # Ensure that we handle DYLD_LIBRARY_PATH for @lcm.
     set_path("DYLD_LIBRARY_PATH", "external/lcm")

tools/workspace/drake_visualizer/plugin/show_frame.py

@@ -1,6 +1,6 @@
 # Note that this script runs in the main context of drake-visulizer,
 # where many modules and variables already exist in the global scope.
-from sets import Set
+
 from director import lcmUtils
 from director import applogic
 from director import objectmodel as om

tools/workspace/drake_visualizer/plugin/show_hydroelastic_contact.py

@@ -7,7 +7,6 @@
 from director.debugVis import DebugData
 import director.vtkAll as vtk
 import numpy as np
-from six import iteritems
 from PythonQt import QtCore, QtGui
 
 import drake as lcmdrakemsg
@@ -209,9 +208,10 @@ def _do_get_contrasting_color(self):
     def _do_get_color(self, norm_value):
         raise NotImplementedError('Subclasses need to implement this')
 
-    def _normalize(self, data, (min_val, max_val)):
+    def _normalize(self, data, range):
         '''Returns an affine mapped version of the data based on the data range
          provided'''
+        (min_val, max_val) = range
         if (min_val > max_val):
             raise AttributeError(
                 'Bad range: [{}, {}]'.format(min_val, max_val))
@@ -382,7 +382,7 @@ def add_subscriber(self):
             'CONTACT_RESULTS',
             messageClass=lcmdrakemsg.lcmt_contact_results_for_viz,
             callback=self.handle_message)
-        print self._name + ' subscriber added.'
+        print(self._name + ' subscriber added.')
 
     def remove_subscriber(self):
         if self._sub is None:
@@ -391,7 +391,7 @@ def remove_subscriber(self):
         lcmUtils.removeSubscriber(self._sub)
         self._sub = None
         om.removeFromObjectModel(om.findObjectByName(self._folder_name))
-        print self._name + ' subscriber removed.'
+        print(self._name + ' subscriber removed.')
 
     def is_enabled(self):
         return self._enabled

tools/workspace/drake_visualizer/plugin/show_image.py

@@ -12,7 +12,6 @@
 *   src/python/director/cameraview.py (CameraImageView)
 *   src/app/ddBotImageQueue.cpp
 """
-
 import sys
 import argparse
 import math
@@ -125,7 +124,7 @@ def render(self):
 
         if self._depth_mapper is not None:
             depth_range = self._get_depth_range()
-            for i in xrange(2):
+            for i in range(2):
                 value = [0.] * 6
                 coloring = self._depth_mapper.GetLookupTable()
                 coloring.GetNodeValue(i, value)
@@ -454,7 +453,7 @@ def _on_message(self, msg):
         issues = []
 
         msg_frame_names = [image.header.frame_name for image in msg.images]
-        for (frame_name, handler) in self._handlers.iteritems():
+        for (frame_name, handler) in self._handlers.items():
             if frame_name not in msg_frame_names:
                 issues.append("Did not find '{}' in message"
                               .format(frame_name))

tools/workspace/drake_visualizer/plugin/show_point_pair_contact.py

@@ -1,13 +1,13 @@
 # Note that this script runs in the main context of drake-visualizer,
 # where many modules and variables already exist in the global scope.
+
 from director import lcmUtils
 from director import applogic
 from director import objectmodel as om
 from director import visualization as vis
 from director.debugVis import DebugData
 import numpy as np
 from PythonQt import QtCore, QtGui
-from six import iteritems
 
 import drake as lcmdrakemsg
 
@@ -175,7 +175,7 @@ def add_subscriber(self):
             'CONTACT_RESULTS',
             messageClass=lcmdrakemsg.lcmt_contact_results_for_viz,
             callback=self.handle_message)
-        print self._name + " subscriber added."
+        print(self._name + " subscriber added.")
 
     def remove_subscriber(self):
         if self._sub is None:
@@ -184,7 +184,7 @@ def remove_subscriber(self):
         lcmUtils.removeSubscriber(self._sub)
         self._sub = None
         om.removeFromObjectModel(om.findObjectByName(self._folder_name))
-        print self._name + " subscriber removed."
+        print(self._name + " subscriber removed.")
 
     def is_enabled(self):
         return self._enabled
@@ -253,7 +253,7 @@ def handle_message(self, msg):
         if self.magnitude_mode == ContactVisModes.kAutoScale:
             auto_scale = 1.0 / max_force
 
-        for key, list_of_forces in iteritems(collision_pair_to_forces):
+        for key, list_of_forces in collision_pair_to_forces.items():
             d = DebugData()
             for p, v in list_of_forces:
                 d.addArrow(start=p,

tools/workspace/drake_visualizer/plugin/use_builtin_scripts.py

@@ -1,6 +1,5 @@
 """Amalgam of visualizer scripts."""
 
-from __future__ import print_function
 
 from collections import OrderedDict
 import os
@@ -30,7 +29,7 @@ def init_visualizer():
     scripts_raw = os.environ["_DRAKE_VISUALIZER_BUILTIN_SCRIPTS"]
     print("  Specified: --use_builtin_scripts={}".format(scripts_raw))
     if scripts_raw == "all":
-        scripts = available.keys()
+        scripts = list(available.keys())
     else:
         scripts = []
         for script in scripts_raw.split(","):

tools/workspace/drake_visualizer/repository.bzl

@@ -56,11 +56,11 @@ def _impl(repository_ctx):
         fail(os_result.error)
 
     if os_result.is_macos:
-        archive = "dv-0.1.0-337-g70c49254-python-2.7.16-qt-5.12.3-vtk-8.2.0-mac-x86_64.tar.gz"  # noqa
-        sha256 = "54b6bc535691518139ec4902ba7de3af756bd8cbf7a004bf8422b5e2cb6652ef"  # noqa
+        archive = "dv-0.1.0-406-g4c3e570a-python-3.7.5-qt-5.13.2-vtk-8.2.0-mac-x86_64.tar.gz"  # noqa
+        sha256 = "88a2c1b6b908e6ec93425208e7ecca5041a17931755062467b995e18fd52c815"  # noqa
     elif os_result.ubuntu_release == "18.04":
-        archive = "dv-0.1.0-337-g70c49254-python-2.7.15-qt-5.9.5-vtk-8.2.0-bionic-x86_64.tar.gz"  # noqa
-        sha256 = "a4d630e907b97fd2e77d2fb8384693494471c9db97be1eaf481c369854c6d50a"  # noqa
+        archive = "dv-0.1.0-406-g4c3e570a-python-3.6.8-qt-5.9.5-vtk-8.2.0-bionic-x86_64.tar.gz"  # noqa
+        sha256 = "70043c4bff0ea142e06b2b26c9dfceb549db5131c14a139bc57e1b4fa35094af"  # noqa
     else:
         fail("Operating system is NOT supported", attr = os_result)
 
@@ -77,16 +77,16 @@ def _impl(repository_ctx):
         type = "tar.gz",
     )
 
+    # TODO(jamiesnape): No reason why this file needs to be constructed inline
+    # now. Move to a package.BUILD.bazel file, or similar, and symlink.
     file_content = """# -*- python -*-
 
 # DO NOT EDIT: generated by drake_visualizer_repository()
 
-load("@python//:version.bzl", "PYTHON_VERSION")
-
 licenses([
     "notice",  # Apache-2.0 AND BSD-3-Clause AND Python-2.0
     "reciprocal",  # MPL-2.0
-    "restricted",  # LGPL-2.1-only AND LGPL-2.1-or-later AND LGPL-3.0-or-later
+    "restricted",  # LGPL-2.1-only AND LGPL-3.0-or-later
     "unencumbered",  # Public-Domain
 ])
 
@@ -95,7 +95,6 @@ licenses([
 #   bot2-lcmgl: LGPL-3.0-or-later
 #   ctkPythonConsole: Apache-2.0
 #   Eigen: BSD-3-Clause AND MPL-2.0 AND Public-Domain
-#   LCM: BSD-3-Clause AND LGPL-2.1-only AND LGPL-2.1-or-later
 #   Python: Python-2.0
 #   PythonQt: LGPL-2.1-only
 #   QtPropertyBrowser: LGPL-2.1-only
@@ -104,31 +103,20 @@ licenses([
 py_library(
     name = "drake_visualizer_python_deps",
     deps = [
+        "@lcm//:lcm-python",
         "@lcmtypes_bot2_core//:lcmtypes_bot2_core_py",
         # TODO(eric.cousineau): Expose VTK Python libraries here for Linux.
         "@lcmtypes_robotlocomotion//:lcmtypes_robotlocomotion_py",
     ],
     visibility = ["//visibility:public"],
 )
 
-filegroup(
-    name = "lcm_python2",
-    srcs = [
-        "lib/python2.7/site-packages/lcm/__init__.py",
-        "lib/python2.7/site-packages/lcm/_lcm.so",
-    ],
-    visibility = ["//visibility:public"],
-)
-
 filegroup(
     name = "drake_visualizer",
     srcs = glob([
-        "lib/libPythonQt.*",
-        "lib/libddApp.*",
-        "lib/python2.7/site-packages/bot_lcmgl/**/*.py",
-        "lib/python2.7/site-packages/director/**/*.py",
-        "lib/python2.7/site-packages/director/**/*.so",
-        "lib/python2.7/site-packages/urdf_parser_py/**/*.py",
+        "lib/**/*.dylib",
+        "lib/**/*.py",
+        "lib/**/*.so",
     ]) + [
         "bin/drake-visualizer",
         "share/doc/director/LICENSE.txt",
@@ -141,13 +129,11 @@ filegroup(
     visibility = ["//visibility:public"],
 )
 
-PY_VERSION_FILES = PYTHON_VERSION.startswith("3.") and [":lcm_python2"] or []
-
 load("@drake//tools/install:install.bzl", "install_files")
 install_files(
     name = "install",
     dest = ".",
-    files = [":drake_visualizer"] + PY_VERSION_FILES,
+    files = [":drake_visualizer"],
     visibility = ["//visibility:public"],
 )
 """