Pull latest main into GOAT

.circleci/config.yml

@@ -2,7 +2,7 @@ version: 2.1
 
 gpu: &gpu
   machine:
-    image: ubuntu-2004-cuda-11.4:202110-01
+    image: linux-cuda-11:default
   resource_class: gpu.nvidia.medium
   environment:
     FPS_THRESHOLD: 900
@@ -31,7 +31,12 @@ commands:
       - run:
           name: Setup env
           command: |
-            [ -d ~/env_home_robot ] || mamba env create -f src/home_robot/environment.yml -p ~/env_home_robot
+            [ -d ~/env_home_robot ] || conda env create -f src/home_robot/environment.yml -p ~/env_home_robot
+      - run:
+          name: Add pinocchio IK dependency
+          command: |
+            conda activate ~/env_home_robot
+            conda install pinocchio>=2.6.17 -c conda-forge  -y
       - save_cache:
           key: deps1-{{ .Branch }}-{{ checksum "src/home_robot/environment.yml" }}
           paths:
@@ -67,6 +72,9 @@ jobs:
                 curl \
                 vim \
                 ca-certificates \
+                g++ \
+                python-dev autotools-dev libicu-dev libbz2-dev \
+                libboost-all-dev \
                 unzip || true
       - conda_env_setup
       - run:

.gitattributes

@@ -0,0 +1 @@
+*.ipynb filter=strip-notebook-output

.gitconfig

@@ -0,0 +1,5 @@
+[filter "strip-notebook-output"]
+clean = "jupyter nbconvert --ClearOutputPreprocessor.enabled=True --ClearMetadataPreprocessor.enabled=True --to=notebook --stdin --stdout --log-level=ERROR"
+smudge = "cat"
+required
+

.gitignore

@@ -2,6 +2,7 @@
 .DS_Store
 .vscode
 *.swp
+*.swn
 *.swo
 *.code-workspace
 debug/
@@ -24,12 +25,20 @@ datasets/
 scene_datasets/
 datadump/
 */datasets/
+!/src/home_robot/home_robot/datasets
 data/
+/models/
 
 # Archive files
 *.pkl
+*.pcd
 *.zip
 
+# Visualizations
+*.ogv
+*.pcd
+*.PCD
+
 # Git stuff
 *~HEAD
 
@@ -38,13 +47,38 @@ data/
 *.hdf5
 *.mp4
 *.glb
+# used by habitat for object info
+*.json
+*.png
+*.jpg
+*.jpeg
+*.npz
+*.pickle
+data/**
+data*/**
+data/***
+# Mesh files
+*.stl
+*.STL
+*.mtl
+*.navmesh
+*.obj
+*.dae
+*.DAE
 
-# Detic model files
+# Detic and other torch model files
 *.pth
 *.ply
+*.pt
 
 # Training stuff
 projects/**/wandb
+core
+projects/**/multirun/**/**
+projects/slap_manipulation/assets/**
 
 # configs
 projects/habitat_ovmm/configs/agent/generated/*
+
+# Emacs
+*~

.gitmodules

@@ -6,19 +6,19 @@
 	url = https://github.com/facebookresearch/habitat-lab
 [submodule "src/home_robot/home_robot/agent/imagenav_agent/SuperGluePretrainedNetwork"]
 	path = src/home_robot/home_robot/agent/imagenav_agent/SuperGluePretrainedNetwork
-	url = https://github.com/magicleap/SuperGluePretrainedNetwork.git
+	url = https://github.com/mukulkhanna/SuperGluePretrainedNetwork.git
 [submodule "src/third_party/detectron2"]
 	path = src/third_party/detectron2
 	url = https://github.com/facebookresearch/detectron2.git
 [submodule "src/third_party/contact_graspnet"]
 	path = src/third_party/contact_graspnet
 	url = https://github.com/cpaxton/contact_graspnet.git
-[submodule "data/datasets/ovmm"]
-	path = data/datasets/ovmm
-	url = https://huggingface.co/datasets/ai-habitat/OVMM_dataset
-[submodule "data/objects"]
-	path = data/objects
-	url = https://huggingface.co/datasets/ai-habitat/OVMM_objects
-[submodule "data/hssd-hab"]
-	path = data/hssd-hab
-	url = https://huggingface.co/datasets/hssd/hssd-hab
+[submodule "src/third_party/MiDaS"]
+	path = src/third_party/MiDaS
+	url = [email protected]:MatthewChang/MiDaS.git
+[submodule "src/home_robot/home_robot/perception/detection/grounded_sam/Grounded-Segment-Anything"]
+	path = src/home_robot/home_robot/perception/detection/grounded_sam/Grounded-Segment-Anything
+	url = https://github.com/IDEA-Research/Grounded-Segment-Anything
+[submodule "src/third_party/spot-sim2real"]
+	path = src/third_party/spot-sim2real
+	url = [email protected]:facebookresearch/spot-sim2real.git

.isort.cfg

@@ -0,0 +1,5 @@
+[settings]
+py_version=39
+known_first_party=home_robot,home_robot_hw,home_robot_sim,home_robot_spot
+known_third_party=contact_grasp_estimator
+skip=src/home_robot_hw/home_robot_hw/nodes/contact_graspnet_server.py

.pre-commit-config.yaml

@@ -35,3 +35,8 @@ repos:
                 | src/home_robot_sim/
                 | src/home_robot_hw/
             ) | setup.py$
+
+  - repo: https://github.com/kynan/nbstripout
+    rev: 0.6.1
+    hooks:
+      - id: nbstripout