Merge branch 'master' into tomsilver-patch-1

.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

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