Merge branch 'fixing_videos' of https://github.com/Learning-and-Intel…

…ligent-Systems/predicators_behavior_v2 into fixing_videos

behavior.md

@@ -91,7 +91,18 @@ python predicators/main.py --env behavior --approach oracle --option_model_name
 * Be sure to set `--plan_only_eval True`: this is necessary to account for the fact that the iGibson simulator is non-deterministic when saving and loading states (which is currently an unresolved bug).
 * Example command: `python predicators/main.py --env behavior --approach oracle --option_model_name oracle_behavior --num_train_tasks 0 --num_test_tasks 1 --behavior_train_scene_name Pomaria_2_int --behavior_test_scene_name Pomaria_2_int --behavior_task_list "[opening_packages]" --seed 1000 --offline_data_planning_timeout 500.0 --timeout 500.0 --behavior_option_model_eval True --plan_only_eval True`.
 
+## Creating and Saving Video
+The codebase is also equipped with functionality to create and save videos of robot execution. For most videos, you'll want to do actual motion planning for navigation, but teleport the hands for grasping/placing (you can do actual motion planning for these as well, but it tends to get rather slow).
+
+Here is an example command that creates and saves video:
+```
+python predicators/main.py --env behavior --approach oracle --option_model_name oracle_behavior --num_train_tasks 0 --num_test_tasks 1 --behavior_train_scene_name Pomaria_2_int --behavior_test_scene_name Pomaria_2_int --behavior_task_list "[collecting_aluminum_cans]" --seed 456 --offline_data_planning_timeout 500.0 --timeout 500.0 --behavior_option_model_eval True --plan_only_eval True --behavior_mode iggui --behavior_save_video True --sesame_task_planner fdopt --simulate_nav True --behavior_option_model_rrt True
+```
+
 ## Troubleshooting
+### Common Error Messages
+- `invalid render device choice 0 < 0`. This means there is a CUDA driver-related mismatch. If this wasn't happening before and starts happening suddenly, then just run `sudo reboot` to reboot your machine and it should go away.
+
 ### Visualizing what the robot is doing
 If a lot of plans are failing in refinement, then visualization can be an extremely powerful debugging tool (e.g. it's often the case that samplers are simply struggling to find good samples to accomplish a particular action). Unfortunately, due to OpenGL version issues on MIT SuperCloud, visualization cannot be done on SuperCloud itself and requires a local installation. Moreover, some minor file editing is required:
 1. Open the `igibson/render/mesh_renderer/shaders/450/optimized_vert.shader` within the `iGibson` repo (remember, this should be the LIS fork of iGibson!).

predicators/utils.py

@@ -1848,7 +1848,7 @@ def all_ground_nsrts_fd_translator(
     prob_str = create_pddl_problem(objects, init_atoms, goal, "mydomain",
                                    "myproblem")
     with nostdout():
-        sas_task = downward_translate(dom_str, prob_str)
+        sas_task = downward_translate(dom_str, prob_str)  # type: ignore
     for operator in sas_task.operators:
         split_name = operator.name[1:-1].split()  # strip out ( and )
         nsrt = nsrt_name_to_nsrt[split_name[0]]

scripts/cluster_utils.py

@@ -3,7 +3,7 @@
 import os
 import subprocess
 from dataclasses import dataclass
-from typing import Any, Dict, Iterator, List, Tuple
+from typing import Any, Dict, Iterator, List, Optional, Tuple
 
 import yaml
 
@@ -140,8 +140,9 @@ def run_cmds_on_machine(
     cmds: List[str],
     user: str,
     machine: str,
-    ssh_key: str = None,
-    allowed_return_codes: Tuple[int, ...] = (0, )) -> None:
+    ssh_key: Optional[str] = None,
+    allowed_return_codes: Tuple[int, ...] = (0, )
+) -> None:
     """SSH into the machine, run the commands, then exit."""
     host = f"{user}@{machine}"
     ssh_cmd = f"ssh -tt -o StrictHostKeyChecking=no {host}"

scripts/configs/behavior_pick_place_evaluation.yaml

@@ -84,7 +84,7 @@ FLAGS:  # general flags
   behavior_override_learned_samplers: True
   behavior_ignore_discover_failures: True
   num_train_tasks: 10
-  num_test_tasks: 0
-START_SEED: 463
-NUM_SEEDS: 2
+  num_test_tasks: 10
+START_SEED: 456
+NUM_SEEDS: 10
 USE_GPU: False

setup.py

@@ -8,14 +8,15 @@
     version="0.1.0",
     packages=find_packages(include=["predicators", "predicators.*"]),
     install_requires=[
+        "mypy",
         "numpy>=1.22.3",
         "pytest",
         "gym==0.26.2",
         "matplotlib",
         "imageio",
         "imageio-ffmpeg",
         "pandas",
-        "torch",
+        "torch==2.0.1",
         "scipy",
         "tabulate",
         "dill",
@@ -44,7 +45,5 @@
             "yapf==0.32.0",
             "docformatter==1.4",
             "isort==5.10.1",
-            "mypy@git+https://github.com/python/mypy.git@9bd651758e8ea2494" +
-            "837814092af70f8d9e6f7a1",
         ]
     })

tests/envs/test_base_env.py

@@ -1,7 +1,7 @@
 """Test cases for the base environment class."""
 
 import pytest
-from test_oracle_approach import ENV_NAME_AND_CLS
+from test_oracle_approach import ENV_NAME_AND_CLS  # type: ignore
 
 from predicators import utils
 from predicators.envs import BaseEnv, create_new_env, get_or_create_env