PR 1/10: Foundation - structs, settings, utils

.github/workflows/predicators.yml

@@ -14,8 +14,6 @@ jobs:
       uses: actions/setup-python@v2
       with:
         python-version: ${{ matrix.python-version }}
-        cache: 'pip'
-        cache-dependency-path: '**/setup.py'
     - run: |
         pip install -e .
         pip install pytest-cov==2.12.1
@@ -35,8 +33,6 @@ jobs:
       uses: actions/setup-python@v2
       with:
         python-version: ${{ matrix.python-version }}
-        cache: 'pip'
-        cache-dependency-path: '**/setup.py'
     - name: Install dependencies
       run: |
         pip install -e .
@@ -55,8 +51,6 @@ jobs:
       uses: actions/setup-python@v2
       with:
         python-version: ${{ matrix.python-version }}
-        cache: 'pip'
-        cache-dependency-path: '**/setup.py'
     - name: Install dependencies
       run: |
         pip install -e .
@@ -77,8 +71,6 @@ jobs:
       uses: actions/setup-python@v2
       with:
         python-version: ${{ matrix.python-version }}
-        cache: 'pip'
-        cache-dependency-path: '**/setup.py'
     - name: Install dependencies
       run: |
         pip install yapf==0.32.0
@@ -101,8 +93,6 @@ jobs:
       uses: actions/setup-python@v2
       with:
         python-version: ${{ matrix.python-version }}
-        cache: 'pip'
-        cache-dependency-path: '**/setup.py'
     - name: Install dependencies
       run: |
         pip install isort==5.10.1
@@ -122,8 +112,6 @@ jobs:
       uses: actions/setup-python@v2
       with:
         python-version: ${{ matrix.python-version }}
-        cache: 'pip'
-        cache-dependency-path: '**/setup.py'
     - name: Install dependencies
       run: |
         pip install docformatter==1.4

.gitignore

@@ -1,6 +1,7 @@
 __pycache__
 *.pyc
 .DS_Store
+CLAUDE.md
 .vscode
 *.egg-info
 *.pkl
@@ -33,5 +34,7 @@ Gymnasium-Robotics/
 predicators/datasets/vlm_input_data_prompts/vision_api/prompt.txt
 predicators/datasets/vlm_input_data_prompts/vision_api/response.txt
 
+.mypy_cache/
+
 # Jetbrains IDEs
 .idea/

CLAUDE.md

@@ -0,0 +1,3 @@
+# Instructions
+
+- Never add Claude as a co-author on git commits (no `Co-Authored-By` lines)

README.md

@@ -36,6 +36,12 @@ A simple implementation of search-then-sample bilevel planning is provided in `p
 Our code assumes that python hashing is deterministic between processes, which is [not true by default](https://stackoverflow.com/questions/30585108/disable-hash-randomization-from-within-python-program).
 Please make sure to `export PYTHONHASHSEED=0` when running the code. You can add this line to your bash profile, or prepend `export PYTHONHASHSEED=0` to any command line call, e.g., `export PYTHONHASHSEED=0 python predicators/main.py --env ...`.
 
+### Weights & Biases (wandb) Setup
+If you want to use wandb for experiment tracking:
+* Set `use_wandb = True` in your config or pass `--use_wandb` as a command line argument
+* Set your wandb API key: `export WANDB_API_KEY=your_api_key_here`
+* Or run `wandb login` to authenticate interactively
+
 ### Locally
 * (recommended) Make a new virtual env or conda env.
 * Run, e.g., `python predicators/main.py --env cover --approach oracle --seed 0` to run the system.

mypy.ini

@@ -2,7 +2,7 @@
 strict_equality = True
 disallow_untyped_calls = True
 warn_unreachable = True
-exclude = (predicators/envs/assets|venv)
+exclude = (predicators/envs/assets|venv|prompts)
 
 [mypy-predicators.*]
 disallow_untyped_defs = True

predicators/args.py

@@ -26,10 +26,13 @@ def create_arg_parser(env_required: bool = True,
     parser.add_argument("--timeout", default=10, type=float)
     parser.add_argument("--make_test_videos", action="store_true")
     parser.add_argument("--make_failure_videos", action="store_true")
+    parser.add_argument("--make_test_images", action="store_true")
+    parser.add_argument("--make_failure_images", action="store_true")
     parser.add_argument("--make_interaction_videos", action="store_true")
     parser.add_argument("--make_demo_videos", action="store_true")
     parser.add_argument("--make_demo_images", action="store_true")
     parser.add_argument("--make_cogman_videos", action="store_true")
+    parser.add_argument("--video_not_break_on_exception", action="store_true")
     parser.add_argument("--load_approach", action="store_true")
     # In the case of online learning approaches, load_approach by itself
     # will try to load an approach on *every* online learning cycle.
@@ -51,4 +54,7 @@ def create_arg_parser(env_required: bool = True,
                         const=logging.DEBUG,
                         default=logging.INFO)
     parser.add_argument("--crash_on_failure", action="store_true")
+    parser.add_argument("--excluded_objects_in_state_str",
+                        default="",
+                        type=str)
     return parser