First pass

.gitignore

@@ -1,7 +1,188 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# colcon
+build/
+install/
+log/
+
+# catkin_make
+devel/
+logs/
+build/
+bin/
+lib/
+
+# Editors
+.idea/
+.vscode/
+*~
+*\#*
+.#*
+
+# ROS
+bag_files/
+
+# Misc
+.DS_Store
+cyclonedds.xml
+
+# experimental projects, not meant to be committed
+projects/_experimental
+projects/quickstart
+
+# Local folder
+.local
+
+# ROS bags
+*.db3
+*.bag
+
+# maps
+ws/src/spot_maps/maps
+
+# wandb
+wandb/
+
+# Gitman-tracked external repos
+external
+
+# Russell
+src/logdir/
+src/pretrained_models/
+
+# Naoki's additions
+
 .DS_Store
 .idea/
 habitat-lab/
 GroundingDINO/
 __pycache__/
 *.pyc
-

.pre-commit-config.yaml

@@ -0,0 +1,46 @@
+# Copyright [2023] Boston Dynamics AI Institute, Inc.
+
+repos:
+-   repo: https://github.com/charliermarsh/ruff-pre-commit
+    rev: 'v0.0.263'
+    hooks:
+    -   id: ruff
+        args: ['--fix', '--config', 'pyproject.toml']
+        exclude: 'dreamerv3/.*|grpc_infra/.*'
+
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+    -   id: end-of-file-fixer
+        exclude: 'dreamerv3/.*|grpc_infra/.*'
+    -   id: trailing-whitespace
+        exclude: 'dreamerv3/.*|grpc_infra/.*'
+    -   id: check-yaml
+        exclude: 'dreamerv3/.*|grpc_infra/.*'
+    -   id: check-added-large-files
+        exclude: 'dreamerv3/.*|grpc_infra/.*'
+    -   id: check-toml
+        exclude: 'dreamerv3/.*|grpc_infra/.*'
+
+-   repo: https://github.com/psf/black
+    rev: 23.3.0
+    hooks:
+    -   id: black
+        language_version: python3.10
+        args: ['--config', 'pyproject.toml']
+        exclude: 'dreamerv3/.*|grpc_infra/.*'
+        verbose: true
+
+# -   repo: https://github.com/pre-commit/mirrors-mypy
+#     rev: v1.2.0
+#     hooks:
+#     -   id: mypy
+#         pass_filenames: false
+#         additional_dependencies:
+#         - types-protobuf
+#         - types-requests
+#         - types-simplejson
+#         - types-ujson
+#         - types-PyYAML
+#         - types-toml
+#         - types-six

pyproject.toml

@@ -0,0 +1,108 @@
+# Copyright [2023] Boston Dynamics AI Institute, Inc.
+
+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "zsos"
+version = "0.1"
+description = "Zero shot object search"
+authors = [
+    {name = "Naoki Yokoyama", email = "naokiyokoyama@github"},
+]
+readme = "README.md"
+requires-python = ">=3.10"
+dependencies = [
+    "torch >= 1.13.1",
+    # "habitat @ git+https://github.com/facebookresearch/habitat-sim.git",
+]
+
+[project.optional-dependencies]
+dev = [
+    "pre-commit>=3.1.1",
+    "pytest>=7.2.1",
+    "pytest-cov>=4.0.0",
+]
+
+[project.urls]
+"Homepage" = "theaiinstitute.com"
+"GitHub" = "https://github.com/bdaiinstitute/llm-object-search"
+
+[tool.ruff]
+# Enable pycodestyle (`E`), Pyflakes (`F`), and import sorting (`I`)
+select = ["E", "F", "I"]
+ignore = []
+
+# Allow autofix for all enabled rules (when `--fix`) is provided.
+fixable = ["A", "B", "C", "D", "E", "F", "G", "I", "N", "Q", "S", "T", "W", "ANN", "ARG", "BLE", "COM", "DJ", "DTZ", "EM", "ERA", "EXE", "FBT", "ICN", "INP", "ISC", "NPY", "PD", "PGH", "PIE", "PL", "PT", "PTH", "PYI", "RET", "RSE", "RUF", "SIM", "SLF", "TCH", "TID", "TRY", "UP", "YTT"]
+unfixable = []
+
+# Exclude a variety of commonly ignored directories.
+exclude = [
+    ".bzr",
+    ".direnv",
+    ".eggs",
+    ".git",
+    ".hg",
+    ".mypy_cache",
+    ".nox",
+    ".pants.d",
+    ".pytype",
+    ".ruff_cache",
+    ".svn",
+    ".tox",
+    ".venv",
+    "__pypackages__",
+    "_build",
+    "buck-out",
+    "build",
+    "dist",
+    "node_modules",
+    "venv",
+    "docker/ros",
+]
+
+# Same as Black.
+line-length = 120
+
+# Allow unused variables when underscore-prefixed.
+dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$"
+
+# Assume Python 3.10.
+target-version = "py310"
+
+[tool.ruff.per-file-ignores]
+"__init__.py" = ["F401"]
+
+[tool.ruff.mccabe]
+# Unlike Flake8, default to a complexity level of 10.
+max-complexity = 10
+
+[tool.black]
+line-length = 120
+target-version = ['py310']
+include = '\.pyi?$'
+# `extend-exclude` is not honored when `black` is passed a file path explicitly,
+# as is typical when `black` is invoked via `pre-commit`.
+force-exclude = '''
+/(
+  docker/ros/.*
+)/
+'''
+
+preview = true
+
+# mypy configuration
+[tool.mypy]
+python_version = "3.10"
+disallow_untyped_defs = true
+ignore_missing_imports = true
+explicit_package_bases = true
+check_untyped_defs = true
+strict_equality = true
+warn_unreachable = true
+warn_redundant_casts = true
+no_implicit_optional = true
+files = ['projects', 'src', 'ws']
+exclude = '^(docker|.*external|.*thirdparty|.*install|.*build|.*_experimental)/'

scripts/eval_dummy_policy.sh

@@ -1,7 +1,10 @@
+#!/usr/bin/env bash
+# Copyright [2023] Boston Dynamics AI Institute, Inc.
+
 python -um zsos.run \
   --config-name=objectnav/ddppo_objectnav_hm3d.yaml \
   habitat_baselines.evaluate=True \
   habitat_baselines.eval_ckpt_path_dir=dummy_policy.pth \
   habitat_baselines.load_resume_state_config=False \
   habitat_baselines.rl.policy.name=BasePolicy \
-  habitat_baselines.rl.ddppo.reset_critic=False
+  habitat_baselines.rl.ddppo.reset_critic=False

scripts/eval_fe_policy.sh

@@ -1,3 +1,6 @@
+#!/usr/bin/env bash
+# Copyright [2023] Boston Dynamics AI Institute, Inc.
+
 python -um zsos.run \
   --config-name=objectnav/ddppo_objectnav_hm3d.yaml \
   habitat_baselines.evaluate=True \

scripts/eval_llm_policy.sh

@@ -1,3 +1,6 @@
+#!/usr/bin/env bash
+# Copyright [2023] Boston Dynamics AI Institute, Inc.
+
 python -um zsos.run \
   --config-name=objectnav/ddppo_objectnav_hm3d.yaml \
   habitat_baselines.evaluate=True \

scripts/launch_llm_server.sh

@@ -1,5 +1,5 @@
-#!/bin/bash
-
+#!/usr/bin/env bash
+# Copyright [2023] Boston Dynamics AI Institute, Inc.
 
 # Ensure you have 'export LLM_OS_PYTHON=<PATH_TO_PYTHON>' in your .bashrc, where
 # <PATH_TO_PYTHON> is the path to the python executable for your conda env

setup.py

@@ -1,11 +1,5 @@
-import setuptools
+# Copyright [2023] Boston Dynamics AI Institute, Inc.
 
-setuptools.setup(
-    name="zsos",
-    version="0.1",
-    author="Naoki Yokoyama",
-    author_email="naokiyokoyama@github",
-    description="Zero-shot object search",
-    url="",
-    packages=setuptools.find_packages(),
-)
+from setuptools import setup
+
+setup()