Initial commit

.circleci/config.yml

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+version: 2.1
+
+gpu: &gpu
+  machine:
+    image: ubuntu-2004-cuda-11.4:202110-01
+  resource_class: gpu.nvidia.medium
+  environment:
+    FPS_THRESHOLD: 900
+
+jobs:
+  pre-commit:
+    working_directory: ~/spot-sim2real
+    resource_class: small
+    docker:
+      - image: cimg/python:3.8
+    steps:
+      - checkout
+      - run:
+          name: Running precommit checks
+          command: |
+            mkdir .mypy_cache
+            pip install pre-commit==3.1.1
+            pre-commit install-hooks
+            pre-commit run --all-files
+
+workflows:
+  main:
+    jobs:
+      - pre-commit

.flake8

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+[flake8]
+ignore = E203, E266, E501, W503, F403, F401
+max-line-length = 89
+max-complexity = 25
+select = B,C,E,F,W,T4,B9
+
+# Ignored rules
+#   E203: whitespace
+#   E266: too many ###
+#   E501: line too long
+#   F403: imported but not used
+#   F401: line breaks before binary operators

.gitignore

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+**/__pycache__/**
+.vscode
+
+bd_spot_wrapper/spot_wrapper.egg-info/**
+bd_spot_wrapper/spot_wrapper/home.txt
+spot_rl_experiments/spot_rl.egg-info/**
+spot_rl_experiments/configs/waypoints.yaml
+
+**/grasp_visualizations/**

.gitmodules

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+[submodule "third_party/habitat-lab"]
+	path = third_party/habitat-lab
+	url = [email protected]:naokiyokoyama/habitat-lab.git
+	branch = pvp
+[submodule "third_party/DeblurGANv2"]
+	path = third_party/DeblurGANv2
+	url = [email protected]:naokiyokoyama/DeblurGANv2.git
+	branch = master
+[submodule "third_party/mask_rcnn_detectron2"]
+	path = third_party/mask_rcnn_detectron2
+	url = https://github.com/naokiyokoyama/mask_rcnn_detectron2
+	branch = main

.pre-commit-config.yaml

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+repos:
+  - repo: https://github.com/psf/black
+    rev: 22.3.0
+    hooks:
+      - id: black
+        exclude: |
+            (?x)^(
+                mask_rcnn_detectron2/
+                | habitat-lab/
+                | DeblurGANv2/
+            )
+            
+  - repo: https://github.com/pycqa/isort
+    rev: 5.11.5
+    hooks:
+      - id: isort
+        args: ["--profile", "black", "--filter-files"]
+        exclude: |
+            (?x)^(
+                mask_rcnn_detectron2/
+                | habitat-lab/
+                | DeblurGANv2/
+            )
+
+  - repo: https://github.com/pycqa/flake8
+    rev: 5.0.4
+    hooks:
+      - id: flake8
+        exclude: |
+            (?x)^(
+                mask_rcnn_detectron2/
+                | habitat-lab/
+                | DeblurGANv2/
+            )
+
+  - repo: https://github.com/pre-commit/mirrors-mypy
+    rev: v0.981
+    hooks:
+      - id: mypy
+        args: [--install-types, --non-interactive, --no-strict-optional, --ignore-missing-imports]
+        exclude: |
+            (?x)^(
+                mask_rcnn_detectron2/
+                | habitat-lab/
+                | DeblurGANv2/
+            )

CODE_OF_CONDUCT.md

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+# Code of Conduct
+
+## Our Pledge
+
+In the interest of fostering an open and welcoming environment, we as
+contributors and maintainers pledge to make participation in our project and
+our community a harassment-free experience for everyone, regardless of age, body
+size, disability, ethnicity, sex characteristics, gender identity and expression,
+level of experience, education, socio-economic status, nationality, personal
+appearance, race, religion, or sexual identity and orientation.
+
+## Our Standards
+
+Examples of behavior that contributes to creating a positive environment
+include:
+
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members
+
+Examples of unacceptable behavior by participants include:
+
+* The use of sexualized language or imagery and unwelcome sexual attention or
+  advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or electronic
+  address, without explicit permission
+* Other conduct which could reasonably be considered inappropriate in a
+  professional setting
+
+## Our Responsibilities
+
+Project maintainers are responsible for clarifying the standards of acceptable
+behavior and are expected to take appropriate and fair corrective action in
+response to any instances of unacceptable behavior.
+
+Project maintainers have the right and responsibility to remove, edit, or
+reject comments, commits, code, wiki edits, issues, and other contributions
+that are not aligned to this Code of Conduct, or to ban temporarily or
+permanently any contributor for other behaviors that they deem inappropriate,
+threatening, offensive, or harmful.
+
+## Scope
+
+This Code of Conduct applies within all project spaces, and it also applies when
+an individual is representing the project or its community in public spaces.
+Examples of representing a project or community include using an official
+project e-mail address, posting via an official social media account, or acting
+as an appointed representative at an online or offline event. Representation of
+a project may be further defined and clarified by project maintainers.
+
+This Code of Conduct also applies outside the project spaces when there is a
+reasonable belief that an individual's behavior may have a negative impact on
+the project or its community.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be
+reported by contacting the project team at <[email protected]>. All
+complaints will be reviewed and investigated and will result in a response that
+is deemed necessary and appropriate to the circumstances. The project team is
+obligated to maintain confidentiality with regard to the reporter of an incident.
+Further details of specific enforcement policies may be posted separately.
+
+Project maintainers who do not follow or enforce the Code of Conduct in good
+faith may face temporary or permanent repercussions as determined by other
+members of the project's leadership.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4,
+available at https://www.contributor-covenant.org/version/1/4/code-of-conduct.html
+
+[homepage]: https://www.contributor-covenant.org
+
+For answers to common questions about this code of conduct, see
+https://www.contributor-covenant.org/faq

CONTRIBUTING.md

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+# Contributing to spot-sim2real
+We want to make contributing to this project as easy and transparent as
+possible.
+
+## Pull Requests
+We actively welcome your pull requests.
+
+1. Fork the repo and create your branch from `main`.
+2. If you've added code that should be tested, add tests.
+3. If you've changed APIs, update the documentation.
+4. Ensure the test suite passes.
+5. Make sure your code lints.
+6. If you haven't already, complete the Contributor License Agreement ("CLA").
+
+## Contributor License Agreement ("CLA")
+In order to accept your pull request, we need you to submit a CLA. You only need
+to do this once to work on any of Facebook's open source projects.
+
+Complete your CLA here: <https://code.facebook.com/cla>
+
+## Issues
+We use GitHub issues to track public bugs. Please ensure your description is
+clear and has sufficient instructions to be able to reproduce the issue.
+
+Facebook has a [bounty program](https://www.facebook.com/whitehat/) for the safe
+disclosure of security bugs. In those cases, please go through the process
+outlined on that page and do not file a public issue.
+
+## License
+By contributing to spot-sim2real, you agree that your contributions will be licensed
+under the LICENSE file in the root directory of this source tree.

LICENSE

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+MIT License
+
+Copyright (c) Meta Platforms, Inc. and its affiliates.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.