Log git commit in behavior log file and check on replay

gibson2/examples/demo/vr_demos/atus/behavior_demo_replay.py

@@ -6,14 +6,16 @@ import argparse
 import os
 import datetime
 import h5py
+import pprint
 
 import gibson2
-from gibson2.robots.behavior_robot import BehaviorRobot
 from gibson2.render.mesh_renderer.mesh_renderer_cpu import MeshRendererSettings
-from gibson2.render.mesh_renderer.mesh_renderer_vr import VrConditionSwitcher, VrSettings
+from gibson2.render.mesh_renderer.mesh_renderer_vr import VrSettings
 from gibson2.simulator import Simulator
 from gibson2.task.task_base import iGTNTask
 from gibson2.utils.ig_logging import IGLogReader, IGLogWriter
+from gibson2.utils.git_utils import project_git_info
+from gibson2.utils.utils import parse_str_config
 import tasknet
 
 import numpy as np
@@ -21,36 +23,6 @@ import pybullet as p
 
 
 def parse_args():
-    scene_choices = [
-        "Beechwood_0_int",
-        "Beechwood_1_int",
-        "Benevolence_0_int",
-        "Benevolence_1_int",
-        "Benevolence_2_int",
-        "Ihlen_0_int",
-        "Ihlen_1_int",
-        "Merom_0_int",
-        "Merom_1_int",
-        "Pomaria_0_int",
-        "Pomaria_1_int",
-        "Pomaria_2_int",
-        "Rs_int",
-        "Wainscott_0_int",
-        "Wainscott_1_int",
-    ]
-
-    task_choices = [
-        "packing_lunches_filtered",
-        "assembling_gift_baskets_filtered",
-        "organizing_school_stuff_filtered",
-        "re-shelving_library_books_filtered",
-        "serving_hors_d_oeuvres_filtered",
-        "putting_away_toys_filtered",
-        "putting_away_Christmas_decorations_filtered",
-        "putting_dishes_away_after_cleaning_filtered",
-        "cleaning_out_drawers_filtered",
-    ]
-    task_id_choices = [0, 1]
     parser = argparse.ArgumentParser(
         description='Run and collect an ATUS demo')
     parser.add_argument('--vr_log_path', type=str,
@@ -72,6 +44,7 @@ def parse_args():
 
 def main():
     args = parse_args()
+    pp = pprint.PrettyPrinter(indent=4)
     tasknet.set_backend("iGibson")
 
     # HDR files for PBR rendering
@@ -113,6 +86,18 @@ def main():
     else:
         filter_objects = True
 
+    if IGLogReader.has_metadata_attr(args.vr_log_path, '/metadata/git_info'):
+        logged_git_info = IGLogReader.read_metadata_attr(args.vr_log_path, '/metadata/git_info')
+        logged_git_info = parse_str_config(logged_git_info)
+        git_info = project_git_info()
+        for key in logged_git_info:
+            if logged_git_info[key] != git_info[key]:
+                print("Warning, difference in git commits for repo: {}. This may impact deterministic replay".format(key))
+                print("Logged git info:\n")
+                pp.pprint(logged_git_info[key])
+                print("Current git info:\n")
+                pp.pprint(git_info[key])
+
     # Get dictionary mapping object body id to name, also check it is a dictionary
     obj_body_id_to_name = IGLogReader.get_obj_body_id_to_name(args.vr_log_path)
     assert type(obj_body_id_to_name) == dict

gibson2/utils/git_utils.py

@@ -0,0 +1,26 @@
+import git
+import gibson2
+from pathlib import Path
+import tasknet
+
+def git_info(directory):
+    repo = git.Repo(directory)
+    try:
+        branch_name = repo.active_branch.name
+    except TypeError:
+        branch_name = '[DETACHED]'
+    return {
+        "directory": str(directory),
+        "code_diff": repo.git.diff(None),
+        "code_diff_staged": repo.git.diff('--staged'),
+        "commit_hash": repo.head.commit.hexsha,
+        "branch_name": branch_name
+    }
+
+def project_git_info():
+    return { 
+        "iGibson": git_info(Path(gibson2.root_path).parent),
+        "tasknet": git_info(Path(tasknet.__file__).parent.parent),
+        "ig_assets": git_info(gibson2.assets_path),
+        "ig_dataset": git_info(gibson2.ig_dataset_path),
+    }

gibson2/utils/ig_logging.py

@@ -12,7 +12,8 @@ import copy
 
 from gibson2.utils.utils import parse_str_config, dump_config
 from gibson2.utils.vr_utils import VrData, convert_button_data_to_binary, VR_BUTTON_COMBO_NUM
-from gibson2.object_states import AABB, Pose
+from gibson2.utils.git_utils import project_git_info
+from gibson2.object_states import Pose
 
 
 class IGLogWriter(object):
@@ -240,6 +241,7 @@ class IGLogWriter(object):
         self.hf.attrs['/metadata/start_time'] = str(datetime.datetime.now())
         self.hf.attrs['/metadata/physics_timestep'] = self.sim.physics_timestep
         self.hf.attrs['/metadata/render_timestep'] = self.sim.render_timestep
+        self.hf.attrs['/metadata/git_info'] = dump_config(project_git_info())
 
         if self.task:
             self.hf.attrs['/metadata/task_name'] =  self.task.atus_activity

setup.py

@@ -172,7 +172,8 @@ setup(
             'sphinx>=1.8.0',
             'recommonmark',
             'sphinx_rtd_theme',
-            'h5py'
+            'h5py',
+            'gitpython'
     ],
     ext_modules=[CMakeExtension(
         'MeshRendererContext', sourcedir='gibson2/render')],