py2and3: Minor compatibility updates

bindings/pydrake/common/test/drake_variant_pybind_test.cc

@@ -36,6 +36,7 @@ GTEST_TEST(VariantTest, CheckCasting) {
   py::module m("__main__");
 
   m.def("VariantToString", &VariantToString, py::arg("value"));
+  py::globals().attr("update")(m.attr("__dict__"));
   ExpectString("VariantToString(1)", "int(1)");
   ExpectString("VariantToString(0.5)", "double(0.5)");
   ExpectString("VariantToString('foo')", "string(foo)");

bindings/pydrake/manipulation/simple_ui.py

@@ -3,7 +3,10 @@
 and potentially other robotics) applications.
 """
 
-import Tkinter as tk
+try:
+    import tkinter as tk
+except ImportError:
+    import Tkinter as tk
 import numpy as np
 
 from pydrake.multibody.multibody_tree.multibody_plant import MultibodyPlant

bindings/pydrake/manipulation/test/simple_ui_test.py

@@ -5,7 +5,10 @@
 import unittest
 
 import numpy as np
-import Tkinter as tk
+try:
+    import tkinter as tk
+except ImportError:
+    import Tkinter as tk
 
 from pydrake.common import FindResourceOrThrow
 from pydrake.multibody.multibody_tree.multibody_plant import MultibodyPlant

bindings/pydrake/systems/drawing.py

@@ -6,7 +6,6 @@
     installed.
 """
 
-from sys import maxint
 from tempfile import NamedTemporaryFile
 
 import matplotlib.pyplot as plt
@@ -38,6 +37,6 @@ def plot_graphviz(dot_text):
     return plt.imshow(plt.imread(f.name), aspect="equal")
 
 
-def plot_system_graphviz(system, max_depth=maxint):
+def plot_system_graphviz(system, **kwargs):
     """Renders a System's Graphviz representation in `matplotlib`."""
-    return plot_graphviz(system.GetGraphvizString(max_depth))
+    return plot_graphviz(system.GetGraphvizString(**kwargs))

bindings/pydrake/systems/meshcat_visualizer.py

@@ -3,6 +3,7 @@
 package, Meshcat:
       https://github.com/rdeits/meshcat
 """
+from __future__ import print_function
 import argparse
 import math
 import webbrowser
@@ -179,8 +180,8 @@ def load(self):
                         meshcat.geometry.ObjMeshGeometry.from_file(
                             geom.string_data[0:-3] + "obj")
                 else:
-                    print "UNSUPPORTED GEOMETRY TYPE ", \
-                        geom.type, " IGNORED"
+                    print("UNSUPPORTED GEOMETRY TYPE {} IGNORED".format(
+                          geom.type))
                     continue
 
                 # Turn a list of R,G,B elements (any indexable list of >= 3

common/test_utilities/drake_py_unittest_main.py

@@ -5,6 +5,7 @@
 
 import argparse
 import imp
+import io
 import os
 import re
 import sys
@@ -33,7 +34,7 @@
     if not found_filename:
         raise RuntimeError("No such file found {}!".format(
             test_filename))
-    with open(found_filename, "r") as infile:
+    with io.open(found_filename, "r", encoding="utf8") as infile:
         for line in infile.readlines():
             if any([line.startswith("if __name__ =="),
                     line.strip().startswith("unittest.main")]):

examples/manipulation_station/end_effector_teleop.py

@@ -1,7 +1,10 @@
 
 import argparse
 
-import Tkinter as tk
+try:
+    import tkinter as tk
+except ImportError:
+    import Tkinter as tk
 import numpy as np
 
 from pydrake.common import FindResourceOrThrow