[WIP] Two-Camera Fused Pose Estimation - #82

.coveragerc

@@ -1,6 +1,8 @@
 [run]
 omit =
     predicators/third_party/**
+    # Git submodules; covered by their own repos' suites.
+    submodules/**
     predicators/envs/kitchen.py
     predicators/perception/kitchen_perceiver.py
     predicators/ground_truth_models/kitchen/**

.github/workflows/predicators.yml

@@ -6,24 +6,64 @@ jobs:
   unit-tests:
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
         python-version: ["3.10.14"]
+        group: [1, 2, 3, 4, 5, 6, 7, 8]
     steps:
     - uses: actions/checkout@v2
     - name: Set up Python ${{ matrix.python-version }}
       uses: actions/setup-python@v2
       with:
         python-version: ${{ matrix.python-version }}
-        cache: 'pip'
-        cache-dependency-path: '**/setup.py'
+    - name: Cache pip packages
+      uses: actions/cache@v4
+      with:
+        path: ~/.cache/pip
+        key: pip-${{ matrix.python-version }}-${{ hashFiles('setup.py') }}
+        restore-keys: |
+          pip-${{ matrix.python-version }}-
     - run: |
         pip install -e .
-        pip install pytest-cov==2.12.1
-    - name: Pytest
+        pip install pytest-cov==2.12.1 pytest-split
+    - name: Pytest (group ${{ matrix.group }}/8)
       run: |
-        pytest -s tests/ --cov-config=.coveragerc --cov=predicators/ --cov=tests/ --cov-fail-under=100 --cov-report=term-missing:skip-covered
+        pytest -s tests/ --splits 8 --group ${{ matrix.group }} --splitting-algorithm least_duration --cov-config=.coveragerc --cov=predicators/ --cov=tests/ --cov-report=term-missing:skip-covered
       env:
         PYTHONHASHSEED: 0
+    - name: Upload coverage
+      uses: actions/upload-artifact@v4
+      with:
+        name: coverage-group-${{ matrix.group }}
+        path: .coverage
+        include-hidden-files: true
+
+  coverage:
+    runs-on: ubuntu-latest
+    needs: unit-tests
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python 3.10.14
+      uses: actions/setup-python@v2
+      with:
+        python-version: "3.10.14"
+    - run: |
+        pip install coverage
+    - name: Download coverage artifacts
+      uses: actions/download-artifact@v4
+      with:
+        pattern: coverage-group-*
+        path: coverage-data
+    - name: Merge and report coverage
+      run: |
+        i=1
+        for dir in coverage-data/coverage-group-*; do
+          cp "$dir/.coverage" ".coverage.$i"
+          i=$((i + 1))
+        done
+        coverage combine
+        coverage report --show-missing --skip-covered
+
   static-type-checking:
     runs-on: ubuntu-latest
     strategy:
@@ -35,8 +75,13 @@ jobs:
       uses: actions/setup-python@v2
       with:
         python-version: ${{ matrix.python-version }}
-        cache: 'pip'
-        cache-dependency-path: '**/setup.py'
+    - name: Cache pip packages
+      uses: actions/cache@v4
+      with:
+        path: ~/.cache/pip
+        key: pip-${{ matrix.python-version }}-${{ hashFiles('setup.py') }}
+        restore-keys: |
+          pip-${{ matrix.python-version }}-
     - name: Install dependencies
       run: |
         pip install -e .
@@ -55,8 +100,13 @@ jobs:
       uses: actions/setup-python@v2
       with:
         python-version: ${{ matrix.python-version }}
-        cache: 'pip'
-        cache-dependency-path: '**/setup.py'
+    - name: Cache pip packages
+      uses: actions/cache@v4
+      with:
+        path: ~/.cache/pip
+        key: pip-${{ matrix.python-version }}-${{ hashFiles('setup.py') }}
+        restore-keys: |
+          pip-${{ matrix.python-version }}-
     - name: Install dependencies
       run: |
         pip install -e .
@@ -77,8 +127,6 @@ 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 +149,6 @@ 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 +168,6 @@ 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
@@ -21,6 +22,7 @@ logs*
 saved_approaches
 saved_datasets
 scripts/results
+scripts/robodisco_getting_started_output/
 pretrained_model_cache*
 tests/datasets/mock_vlm_datasets/cache/
 machines.txt
@@ -33,5 +35,9 @@ 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/
+
+paper/

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "submodules/BabyRobotPredicator"]
+	path = submodules/BabyRobotPredicator
+	url = git@github.com:BasisResearch/BabyRobotPredicator.git

.predicators_pylintrc

@@ -10,7 +10,7 @@ extension-pkg-whitelist=numpy,pybullet,torch,tensorflow,pyrealsense2
 ignore=CVS
 
 # Add paths to the blacklist.
-ignore-paths=predicators/envs/assets,predicators/third_party,venv
+ignore-paths=predicators/envs/assets,predicators/third_party,venv,docs
 
 # Add files or directories matching the regex patterns to the blacklist. The
 # regex matches against base names, not paths.