fixes CI finally (#80)

* fixes CI finally

* fix lint

* fix tqdm

.github/workflows/predicators.yml

@@ -18,7 +18,7 @@ jobs:
         cache-dependency-path: '**/setup.py'
     - run: |
         pip install -e .
-        pip install pytest-cov
+        pip install pytest-cov==2.12.1
     - name: Pytest
       run: |
         pytest -s tests/ --cov-config=.coveragerc --cov=predicators/ --cov=tests/ --cov-fail-under=100 --cov-report=term-missing:skip-covered
@@ -61,13 +61,13 @@ jobs:
     - name: Install dependencies
       run: |
         pip install -e .
-        pip install pytest-pylint
+        pip install pytest-pylint==0.18.0
     - name: Pylint
       run: |
         pytest . --pylint -m pylint --pylint-rcfile=.predicators_pylintrc
       env:
         PYTHONHASHSEED: 0
-  autoformat:
+  yapf:
     runs-on: ubuntu-latest
     strategy:
       matrix:
@@ -80,9 +80,56 @@ jobs:
         python-version: ${{ matrix.python-version }}
         cache: 'pip'
         cache-dependency-path: '**/setup.py'
-    - name: Run YAPF to test if python code is correctly formatted
-      uses: AlexanderMelde/yapf-action@master
+    - name: Install dependencies
+      run: |
+        pip install yapf==0.32.0
+    - name: Run yapf to detect any autoformatting changes
+      run: |
+        yapf --diff -r --style .style.yapf --exclude '**/third_party' predicators
+        yapf --diff -r --style .style.yapf scripts
+        yapf --diff -r --style .style.yapf tests
+        yapf --diff -r --style .style.yapf setup.py
+      env:
+        PYTHONHASHSEED: 0
+  isort:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: [3.8]
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python ${{ matrix.python-version }}
+      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
+    - name: Run isort to detect any changes
+      run: |
+        isort --check-only .
+      env:
+        PYTHONHASHSEED: 0
+  docformatter:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: [3.8]
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v2
       with:
-        args: --verbose --style .style.yapf --exclude '**/third_party'
-    - name: Run isort to organize imports
-      uses: isort/isort-action@master
+        python-version: ${{ matrix.python-version }}
+        cache: 'pip'
+        cache-dependency-path: '**/setup.py'
+    - name: Install dependencies
+      run: |
+        pip install docformatter==1.4
+    - name: Run docformatter to detect any autoformatting changes
+      run: |
+        docformatter --check -r . --exclude venv predicators/third_party
+      env:
+        PYTHONHASHSEED: 0

mypy.ini

@@ -83,5 +83,11 @@ ignore_missing_imports = True
 [mypy-panda_robot_client.*]
 ignore_missing_imports = True
 
+[mypy-gym.*]
+ignore_missing_imports = True
+
+[mypy-gym_sokoban.*]
+ignore_missing_imports = True
+
 [mypy-tqdm.*]
 ignore_missing_imports = True

predicators/pybullet_helpers/motion_planning.py

@@ -13,20 +13,32 @@
 
 
 def run_motion_planning(
-        robot: SingleArmPyBulletRobot, initial_positions: JointPositions,
-        target_positions: JointPositions, collision_bodies: Collection[int],
-        seed: int,
-        physics_client_id: int) -> Optional[Sequence[JointPositions]]:
+    robot: SingleArmPyBulletRobot,
+    initial_positions: JointPositions,
+    target_positions: JointPositions,
+    collision_bodies: Collection[int],
+    seed: int,
+    physics_client_id: int,
+) -> Optional[Sequence[JointPositions]]:
     """Run BiRRT to find a collision-free sequence of joint positions.
 
     Note that this function changes the state of the robot.
     """
     rng = np.random.default_rng(seed)
     joint_space = robot.action_space
     joint_space.seed(seed)
-    _sample_fn = lambda _: joint_space.sample()
     num_interp = CFG.pybullet_birrt_extend_num_interp
 
+    def _sample_fn(pt: JointPositions) -> JointPositions:
+        new_pt: JointPositions = list(joint_space.sample())
+        # Don't change the fingers.
+        new_pt[robot.left_finger_joint_idx] = pt[robot.left_finger_joint_idx]
+        new_pt[robot.right_finger_joint_idx] = pt[robot.right_finger_joint_idx]
+        return new_pt
+
+    def _set_state(pt: JointPositions) -> None:
+        robot.set_joints(pt)
+
     def _extend_fn(pt1: JointPositions,
                    pt2: JointPositions) -> Iterator[JointPositions]:
         pt1_arr = np.array(pt1)
@@ -38,7 +50,7 @@ def _extend_fn(pt1: JointPositions,
             yield list(pt1_arr * (1 - i / num) + pt2_arr * i / num)
 
     def _collision_fn(pt: JointPositions) -> bool:
-        robot.set_joints(pt)
+        _set_state(pt)
         p.performCollisionDetection(physicsClientId=physics_client_id)
         for body in collision_bodies:
             if p.getContactPoints(robot.robot_id,
@@ -48,6 +60,8 @@ def _collision_fn(pt: JointPositions) -> bool:
         return False
 
     def _distance_fn(from_pt: JointPositions, to_pt: JointPositions) -> float:
+        # NOTE: only using positions to calculate distance. Should use
+        # orientations as well in the near future.
         from_ee = robot.forward_kinematics(from_pt)
         to_ee = robot.forward_kinematics(to_pt)
         return sum(np.subtract(from_ee, to_ee)**2)

scripts/analyze_results_directory.py

@@ -49,7 +49,7 @@
 ]
 
 
-def _compute_percentage_tasks_solved(d: pd.DataFrame) -> pd.DataFrame:
+def _compute_percentage_tasks_solved(d: Dict[str, float]) -> float:
     try:
         ret_df = (d["num_solved"] / d["num_test_tasks"]) * 100
     except ZeroDivisionError:

setup.py

@@ -3,26 +3,48 @@
 
 # NOTE: Windows users will have to install windows-curses
 # (https://pypi.org/project/windows-curses/)
-setup(name="predicators",
-      version="0.1.0",
-      packages=find_packages(include=["predicators", "predicators.*"]),
-      install_requires=[
-          "numpy>=1.22.3", "pytest", "gym==0.21.0", "matplotlib", "imageio",
-          "imageio-ffmpeg", "pandas", "torch", "scipy", "tabulate", "dill",
-          "pyperplan", "pathos", "requests", "slack_bolt", "pybullet>=3.2.0",
-          "scikit-learn", "graphlib-backport", "openai", "pyyaml",
-          "pylint==2.14.5", "types-PyYAML", "lisdf", "seaborn",
-          "smepy@git+https://github.com/sebdumancic/structure_mapping.git"
-      ],
-      include_package_data=True,
-      extras_require={
-          "develop": [
-              "pytest-cov>=2.12.1",
-              "pytest-pylint>=0.18.0",
-              "yapf==0.32.0",
-              "docformatter",
-              "isort",
-              "mypy@git+https://github.com/python/mypy.git@9bd651758e8ea2494" +
-              "837814092af70f8d9e6f7a1",
-          ]
-      })
+setup(
+    name="predicators",
+    version="0.1.0",
+    packages=find_packages(include=["predicators", "predicators.*"]),
+    install_requires=[
+        "numpy>=1.22.3",
+        "pytest",
+        "gym==0.26.2",
+        "matplotlib",
+        "imageio",
+        "imageio-ffmpeg",
+        "pandas",
+        "torch",
+        "scipy",
+        "tabulate",
+        "dill",
+        "pyperplan",
+        "pathos",
+        "requests",
+        "slack_bolt",
+        "pybullet>=3.2.0",
+        "scikit-learn",
+        "graphlib-backport",
+        "openai",
+        "pyyaml",
+        "pylint==2.14.5",
+        "types-PyYAML",
+        "lisdf",
+        "seaborn",
+        "smepy@git+https://github.com/sebdumancic/structure_mapping.git",
+        "pg3@git+https://github.com/tomsilver/pg3.git",
+        "gym_sokoban@git+https://github.com/Learning-and-Intelligent-Systems/gym-sokoban.git"  # pylint: disable=line-too-long
+    ],
+    include_package_data=True,
+    extras_require={
+        "develop": [
+            "pytest-cov==2.12.1",
+            "pytest-pylint==0.18.0",
+            "yapf==0.32.0",
+            "docformatter==1.4",
+            "isort==5.10.1",
+            "mypy@git+https://github.com/python/mypy.git@9bd651758e8ea2494" +
+            "837814092af70f8d9e6f7a1",
+        ]
+    })

tests/approaches/test_random_actions_approach.py

@@ -25,4 +25,4 @@ def test_random_actions_approach():
         actions.append(act)
         assert env.action_space.contains(act.arr)
     # Test reproducibility
-    assert str(actions) == "[Action(_arr=array([0.70787615], dtype=float32)), Action(_arr=array([0.3698764], dtype=float32)), Action(_arr=array([0.29010695], dtype=float32)), Action(_arr=array([0.10647454], dtype=float32)), Action(_arr=array([0.9975787], dtype=float32)), Action(_arr=array([0.9942262], dtype=float32)), Action(_arr=array([0.98252517], dtype=float32)), Action(_arr=array([0.55868745], dtype=float32)), Action(_arr=array([0.68523175], dtype=float32)), Action(_arr=array([0.99104315], dtype=float32))]"  # pylint: disable=line-too-long
+    assert str(actions) == "[Action(_arr=array([0.6823519], dtype=float32)), Action(_arr=array([0.05382102], dtype=float32)), Action(_arr=array([0.22035988], dtype=float32)), Action(_arr=array([0.18437181], dtype=float32)), Action(_arr=array([0.1759059], dtype=float32)), Action(_arr=array([0.8120945], dtype=float32)), Action(_arr=array([0.92334497], dtype=float32)), Action(_arr=array([0.2765744], dtype=float32)), Action(_arr=array([0.81975454], dtype=float32)), Action(_arr=array([0.8898927], dtype=float32))]"  # pylint: disable=line-too-long

tests/approaches/test_random_options_approach.py

@@ -49,7 +49,7 @@ def _solved_classifier(s, o):
     policy = approach.solve(task, 500)
     solved = False
     act_var = None
-    for _ in range(10):
+    for _ in range(25):
         act = policy(state)
         assert act.has_option()
         if act_var is None:
@@ -111,4 +111,4 @@ def _solved_classifier(s, o):
             act_var = act.arr.item()
         state = _simulator(state, act)
     # Test reproducibility
-    assert str(actions) == "[Action(_arr=array([0.70787615], dtype=float32)), Action(_arr=array([0.3698764], dtype=float32)), Action(_arr=array([0.29010695], dtype=float32)), Action(_arr=array([0.9975787], dtype=float32)), Action(_arr=array([0.9942262], dtype=float32)), Action(_arr=array([0.98252517], dtype=float32)), Action(_arr=array([0.55868745], dtype=float32)), Action(_arr=array([0.68523175], dtype=float32)), Action(_arr=array([0.99104315], dtype=float32)), Action(_arr=array([0.8620031], dtype=float32))]"  # pylint: disable=line-too-long
+    assert str(actions) == "[Action(_arr=array([0.6823519], dtype=float32)), Action(_arr=array([0.8120945], dtype=float32)), Action(_arr=array([0.92334497], dtype=float32)), Action(_arr=array([0.2765744], dtype=float32)), Action(_arr=array([0.81975454], dtype=float32)), Action(_arr=array([0.8898927], dtype=float32)), Action(_arr=array([0.51297045], dtype=float32)), Action(_arr=array([0.8242416], dtype=float32)), Action(_arr=array([0.74146706], dtype=float32)), Action(_arr=array([0.6299402], dtype=float32))]"  # pylint: disable=line-too-long