Merge branch 'master' into planning-progress-exception

.coveragerc

@@ -4,6 +4,8 @@ omit =
     predicators/envs/kitchen.py
     predicators/perception/kitchen_perceiver.py
     predicators/ground_truth_models/kitchen/**
+    # Currently disabled due to flakiness in the SME dependency.
+    predicators/approaches/sme_pg3_analogy_approach.py
 
 [report]
 # Regexes for lines to exclude from consideration

README.md

@@ -2,7 +2,7 @@
 
 ## Repository Description
 
-This codebase implements a framework for *bilevel planning with learned neuro-symbolic relational abstractions*, as described in [this paper](https://arxiv.org/abs/2203.09634). Several features are concurrently under active development. **Please contact <[email protected]> and <ronuchit@mit.edu> before attempting to use it for your own research.** In particular, this codebase aims to ultimately provide an integrated system for learning the ingredients of search-then-sample bilevel planning with learned abstractions. That includes: options, predicates, operators, and samplers. 
+This codebase implements a framework for *bilevel planning with learned neuro-symbolic relational abstractions*, as described in [this paper](https://arxiv.org/abs/2203.09634). Several features are concurrently under active development. **Please contact <[email protected]> or <njk@mit.edu> before attempting to use it for your own research.** In particular, this codebase aims to ultimately provide an integrated system for learning the ingredients of search-then-sample bilevel planning with learned abstractions. That includes: options, predicates, operators, and samplers. 
 
 ### Code Structure
 

predicators/planning.py

@@ -1060,7 +1060,8 @@ def fd_plan_from_sas_file(
     metrics: Metrics = defaultdict(float)
     num_nodes_expanded = re.findall(r"Expanded (\d+) state", output)
     num_nodes_created = re.findall(r"Evaluated (\d+) state", output)
-    assert len(num_nodes_expanded) == 1
+    if len(num_nodes_expanded) != 1:
+        raise PlanningFailure(f"Plan not found with FD! Error: {output}")
     assert len(num_nodes_created) == 1
     metrics["num_nodes_expanded"] = float(num_nodes_expanded[0])
     metrics["num_nodes_created"] = float(num_nodes_created[0])

tests/approaches/test_oracle_approach.py

@@ -754,6 +754,7 @@ def simulate(self, state, action):
             return self._transition_stack(state, x, y, z)
 
     env = _ExternalBlocksEnv()
+    assert env.get_name() == "external_blocks"
 
     # Create external options by modifying blocks options.
     options = set()

tests/approaches/test_pg3_analogy_approach.py

@@ -145,8 +145,14 @@ def test_pg3_analogy_approach():
 )"""
 
 
-def test_find_env_analogies():
-    """Tests for _find_env_analogies()."""
+def _disabled_test_find_env_analogies():  # pragma: no cover
+    """Tests for _find_env_analogies().
+
+    NOTE: this test is currently disabled because of sudden flakiness in the
+    SME depedency, despite no changes for months. Since we're not actively
+    using this code, we're just disabling it, but leaving it here in case we
+    do want to resurrect the code in the future.
+    """
     # Test for gripper -> ferry.
     base_env = create_new_env("pddl_gripper_procedural_tasks")
     base_nsrts = get_gt_nsrts(base_env.get_name(), base_env.predicates,

tests/envs/test_pybullet_cover.py

@@ -166,8 +166,12 @@ def test_pybullet_cover_step(env):
     assert abs(state.get(block, "pose") - 0.75) < 0.01
 
 
-def test_pybullet_cover_pick_workspace_bounds(env):
-    """Tests for picking at workspace bounds in PyBulletCoverEnv."""
+def _disabled_test_pybullet_cover_pick_workspace_bounds(
+        env):  # pragma: no cover
+    """Tests for picking at workspace bounds in PyBulletCoverEnv.
+
+    This is currently disabled due to nondeterminism issues in IK.
+    """
     block = Object("block0", env.block_type)
     robot = env.robot
     workspace_x, workspace_z = env.workspace_dimensions