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Merge pull request #74 from BerkeleyAutomation/python3
Python 2/3 support and general cleanup.
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‎.flake8

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

‎.style.yapf

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[style]
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based_on_style=pep8
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allow_split_before_dict_value=False
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join_multiple_lines=False

‎.travis.yml

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# Copyright ©2017. The Regents of the University of California (Regents).
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# All Rights Reserved. Permission to use, copy, modify, and distribute this
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# software and its documentation for educational, research, and not-for-profit
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# purposes, without fee and without a signed licensing agreement, is hereby
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# granted, provided that the above copyright notice, this paragraph and the
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# following two paragraphs appear in all copies, modifications, and
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# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
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# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
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# [email protected],
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# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
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# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
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# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
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# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
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# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
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# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
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# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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language: python
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matrix:
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include:
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- name: "Python 2.7 on Xenial Linux"
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python: 2.7
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dist: xenial
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- name: "Python 3.5 on Xenial Linux"
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python: 3.5
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dist: xenial
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- name: "Python 3.6 on Xenial Linux"
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python: 3.6
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dist: xenial
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- name: "Python 3.7 on Xenial Linux"
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python: 3.7
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dist: xenial
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- name: "Linter"
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python: 3.7
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dist: xenial
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before_install: []
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install: []
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script:
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- pip install yapf==0.27.0 # Must use specific version.
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- pip install flake8 flake8-comprehensions flake8-quotes==2.0.0
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- ./ci/travis/format.sh --all # Should exit with 0 for no diffs.
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- flake8
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before_install:
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- sudo apt-get update
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- sudo apt-get install -y python-opengl # For GLU.
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install:
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- pip install .
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script:
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- python -c "import gqcnn"
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notifications:
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email: false

‎CMakeLists.txt

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

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# Berkeley AUTOLAB's GQCNN Package
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<p>
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<a><img alt="Build Status" src="https://travis-ci.org/BerkeleyAutomation/gqcnn.svg?branch=master"></a>
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<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>
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<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>
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<a><img alt="Python Version" src="https://img.shields.io/badge/python-2.7-yellow.svg"></a>
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<a><img alt="Python 2 Version" src="https://img.shields.io/badge/python-2.7-yellow.svg"></a>
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<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>
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</p>
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## Package Overview

‎cfg/examples/antipodal_grasp_sampling.yaml

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

‎cfg/examples/fc_gqcnn_pj.yaml

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

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# Copyright ©2017. The Regents of the University of California (Regents).
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# All Rights Reserved. Permission to use, copy, modify, and distribute this
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# software and its documentation for educational, research, and not-for-profit
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# purposes, without fee and without a signed licensing agreement, is hereby
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# granted, provided that the above copyright notice, this paragraph and the
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# following two paragraphs appear in all copies, modifications, and
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# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
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# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
9+
# [email protected],
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# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
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# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
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# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
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# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
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# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
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# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
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# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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policy:
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type: fully_conv_suction
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‎cfg/examples/gqcnn_pj.yaml

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# Copyright ©2017. The Regents of the University of California (Regents).
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# All Rights Reserved. Permission to use, copy, modify, and distribute this
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# software and its documentation for educational, research, and not-for-profit
4+
# purposes, without fee and without a signed licensing agreement, is hereby
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# granted, provided that the above copyright notice, this paragraph and the
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# following two paragraphs appear in all copies, modifications, and
7+
# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
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# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
9+
# [email protected],
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# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
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# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
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# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
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# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
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# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
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# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
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# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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policy:
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# optimization params
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num_seed_samples: 128

‎cfg/examples/gqcnn_suction.yaml

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# Copyright ©2017. The Regents of the University of California (Regents).
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# All Rights Reserved. Permission to use, copy, modify, and distribute this
3+
# software and its documentation for educational, research, and not-for-profit
4+
# purposes, without fee and without a signed licensing agreement, is hereby
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# granted, provided that the above copyright notice, this paragraph and the
6+
# following two paragraphs appear in all copies, modifications, and
7+
# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
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# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
9+
# [email protected],
10+
# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
11+
12+
# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
13+
# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
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# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
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# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
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# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
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# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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policy:
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# optimization params
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num_seed_samples: 200

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

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# Copyright ©2017. The Regents of the University of California (Regents).
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# All Rights Reserved. Permission to use, copy, modify, and distribute this
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# software and its documentation for educational, research, and not-for-profit
4+
# purposes, without fee and without a signed licensing agreement, is hereby
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# granted, provided that the above copyright notice, this paragraph and the
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# following two paragraphs appear in all copies, modifications, and
7+
# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
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# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
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# [email protected],
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# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
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# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
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# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
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# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
15+
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
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# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
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# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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# policy params
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policy:
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# optimization params

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

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# Copyright ©2017. The Regents of the University of California (Regents).
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# All Rights Reserved. Permission to use, copy, modify, and distribute this
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# software and its documentation for educational, research, and not-for-profit
4+
# purposes, without fee and without a signed licensing agreement, is hereby
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# granted, provided that the above copyright notice, this paragraph and the
6+
# following two paragraphs appear in all copies, modifications, and
7+
# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
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# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
9+
# [email protected],
10+
# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
11+
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# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
13+
# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
14+
# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
15+
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
16+
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# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
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# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
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# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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# policy params
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policy:
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# optimization params

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

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# Copyright ©2017. The Regents of the University of California (Regents).
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# All Rights Reserved. Permission to use, copy, modify, and distribute this
3+
# software and its documentation for educational, research, and not-for-profit
4+
# purposes, without fee and without a signed licensing agreement, is hereby
5+
# granted, provided that the above copyright notice, this paragraph and the
6+
# following two paragraphs appear in all copies, modifications, and
7+
# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
8+
# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
9+
# [email protected],
10+
# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
11+
12+
# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
13+
# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
14+
# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
15+
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
16+
17+
# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
18+
# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
19+
# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
20+
# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
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# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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# policy params
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policy:
325
# optimization params

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

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# Copyright ©2017. The Regents of the University of California (Regents).
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# All Rights Reserved. Permission to use, copy, modify, and distribute this
3+
# software and its documentation for educational, research, and not-for-profit
4+
# purposes, without fee and without a signed licensing agreement, is hereby
5+
# granted, provided that the above copyright notice, this paragraph and the
6+
# following two paragraphs appear in all copies, modifications, and
7+
# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
8+
# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
9+
# [email protected],
10+
# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
11+
12+
# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
13+
# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
14+
# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
15+
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
16+
17+
# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
18+
# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
19+
# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
20+
# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
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# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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policy:
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type: fully_conv_pj
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‎cfg/examples/replication/dex-net_4.0_fc_suction.yaml

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# Copyright ©2017. The Regents of the University of California (Regents).
2+
# All Rights Reserved. Permission to use, copy, modify, and distribute this
3+
# software and its documentation for educational, research, and not-for-profit
4+
# purposes, without fee and without a signed licensing agreement, is hereby
5+
# granted, provided that the above copyright notice, this paragraph and the
6+
# following two paragraphs appear in all copies, modifications, and
7+
# distributions. Contact The Office of Technology Licensing, UC Berkeley, 2150
8+
# Shattuck Avenue, Suite 510, Berkeley, CA 94720-1620, (510) 643-7201,
9+
# [email protected],
10+
# http://ipira.berkeley.edu/industry-info for commercial licensing opportunities.
11+
12+
# IN NO EVENT SHALL REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL,
13+
# INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF
14+
# THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF REGENTS HAS BEEN
15+
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
16+
17+
# REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
18+
# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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# PURPOSE. THE SOFTWARE AND ACCOMPANYING DOCUMENTATION, IF ANY, PROVIDED
20+
# HEREUNDER IS PROVIDED "AS IS". REGENTS HAS NO OBLIGATION TO PROVIDE
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# MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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policy:
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type: fully_conv_suction
325

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