composabl-cli-dev 0.10.1.dev12__cp311-cp311-macosx_11_0_arm64.whl → 0.18.6.dev11__cp311-cp311-macosx_11_0_arm64.whl

composabl_cli/template/agent_docker/agent.py

@@ -85,7 +85,7 @@ def main():
                     "file_path": "/tmp/composabl/recordings",
                     "avi_file_name": "output.avi",
                     "gif_file_name": "output.gif",
-                    "gif_max_frames": 24 * 5,
+                    "max_frames": 24 * 5,
                 },
             },
         }

composabl_cli/template/agent_local/agent.py

@@ -82,7 +82,7 @@ def main():
                     "file_path": "/tmp/composabl/recordings",
                     "avi_file_name": "output.avi",
                     "gif_file_name": "output.gif",
-                    "gif_max_frames": 24 * 5,
+                    "max_frames": 24 * 5,
                 },
             },
         }

composabl_cli/template/perceptor/pyproject.toml

@@ -4,9 +4,12 @@ version = "0.1.0"
 description = "{{DESCRIPTION}}"
 authors = [{ name = "John Doe", email = "john.doe@composabl.com" }]
 dependencies = [
-    "composabl-core"
+    "composabl-core{{COMPOSABL_DEV}}{{COMPOSABL_CORE_VERSION}}",
 ]
 
 [composabl]
 type = "perceptor"
+variables = [
+    "counter_derived"
+]
 entrypoint = "{{NAME_MODULE}}.perceptor:DemoPerceptor"

composabl_cli/template/selector_controller/pyproject.toml

@@ -4,7 +4,7 @@ version = "0.1.0"
 description = "{{DESCRIPTION}}"
 authors = [{ name = "John Doe", email = "john.doe@composabl.com" }]
 dependencies = [
-    "composabl-core"
+    "composabl-core{{COMPOSABL_DEV}}{{COMPOSABL_CORE_VERSION}}",
 ]
 
 [composabl]

composabl_cli/template/selector_teacher/{{NAME_MODULE}}/teacher.py

@@ -49,7 +49,9 @@ class Teacher(SkillTeacher):
         else:
             return -2 * math.exp(-abs(counter - 10)) + 100
 
-    async def compute_action_mask(self, transformed_sensors: Dict, action) -> List[bool]:
+    async def compute_action_mask(
+        self, transformed_sensors: Dict, action
+    ) -> List[bool]:
         return None
 
     async def compute_success_criteria(self, transformed_sensors: Dict, action) -> bool:

composabl_cli/template/sim/pyproject.toml

@@ -4,7 +4,7 @@ version = "0.1.0"
 description = "{{DESCRIPTION}}"
 authors = [{ name = "John Doe", email = "john.doe@composabl.com" }]
 dependencies = [
-    "composabl-core"
+    "composabl-core{{COMPOSABL_DEV}}{{COMPOSABL_CORE_VERSION}}",
 ]
 
 [composabl]

composabl_cli/template/sim/{{NAME_MODULE}}/sim.py

@@ -192,9 +192,7 @@ class Env(gym.Env):
         self.t = thrust + random.uniform(
             -actuator_noise * thrust, actuator_noise * thrust
         )
-        self.a = angle + random.uniform(
-            -actuator_noise * angle, actuator_noise * angle
-        )
+        self.a = angle + random.uniform(-actuator_noise * angle, actuator_noise * angle)
 
         self.t = np.clip(self.t, 0.4, 1)
         self.a = np.clip(self.a, self.min_gimble, self.max_gimble)

composabl_cli/template/sim/{{NAME_MODULE}}/sim_impl.py

@@ -7,10 +7,10 @@ from typing import Any, Dict, SupportsFloat, Tuple
 import composabl_core.utils.logger as logger_util
 import gymnasium as gym
 from composabl_core.agent.scenario import Scenario
-from composabl_core.networking.server_composabl import ServerComposabl
+from composabl_core.networking.sim.server_composabl import ServerComposabl
 from gymnasium.envs.registration import EnvSpec
 
-from {{NAME_MODULE}}.sim import Env
+from .sim import Env
 
 logger = logger_util.get_logger(__name__)
 

composabl_cli/template/sim_docker/main.py

@@ -6,7 +6,7 @@ import argparse
 import os
 from typing import Optional
 
-from composabl_core.networking.server import make_from_sim_path
+from composabl_core.networking.sim.server import make_from_sim_path
 
 
 async def _run(

composabl_cli/template/sim_docker/module/{{NAME_MODULE}}/sim.py

@@ -192,9 +192,7 @@ class Env(gym.Env):
         self.t = thrust + random.uniform(
             -actuator_noise * thrust, actuator_noise * thrust
         )
-        self.a = angle + random.uniform(
-            -actuator_noise * angle, actuator_noise * angle
-        )
+        self.a = angle + random.uniform(-actuator_noise * angle, actuator_noise * angle)
 
         self.t = np.clip(self.t, 0.4, 1)
         self.a = np.clip(self.a, self.min_gimble, self.max_gimble)

composabl_cli/template/sim_docker/module/{{NAME_MODULE}}/sim_impl.py

@@ -7,10 +7,10 @@ from typing import Any, Dict, SupportsFloat, Tuple
 import composabl_core.utils.logger as logger_util
 import gymnasium as gym
 from composabl_core.agent.scenario import Scenario
-from composabl_core.networking.server_composabl import ServerComposabl
+from composabl_core.networking.sim.server_composabl import ServerComposabl
 from gymnasium.envs.registration import EnvSpec
 
-from {{NAME_MODULE}}.sim import Env
+from .sim import Env
 
 logger = logger_util.get_logger(__name__)
 

composabl_cli/template/skill_controller/pyproject.toml

@@ -4,7 +4,7 @@ version = "0.1.0"
 description = "{{DESCRIPTION}}"
 authors = [{ name = "John Doe", email = "john.doe@composabl.com" }]
 dependencies = [
-    "composabl-core"
+    "composabl-core{{COMPOSABL_DEV}}{{COMPOSABL_CORE_VERSION}}",
 ]
 
 [composabl]

composabl_cli/template/skill_coordinated_population/pyproject.toml

@@ -0,0 +1,12 @@
+[project]
+name = "{{NAME}}"
+version = "0.1.0"
+description = "{{DESCRIPTION}}"
+authors = [{ name = "John Doe", email = "john.doe@composabl.com" }]
+dependencies = [
+    "composabl-core{{COMPOSABL_DEV}}{{COMPOSABL_CORE_VERSION}}",
+]
+
+[composabl]
+type = "skill-coordinated-population"
+entrypoint = "{{NAME_MODULE}}.coach:Coach"

composabl_cli/template/{skill_coach → skill_coordinated_population}/{{NAME_MODULE}}/coach.py

@@ -49,7 +49,9 @@ class Coach(SkillCoach):
         else:
             return -2 * math.exp(-abs(counter - 10)) + 100
 
-    async def compute_action_mask(self, transformed_sensors: Dict, action) -> List[bool]:
+    async def compute_action_mask(
+        self, transformed_sensors: Dict, action
+    ) -> List[bool]:
         return None
 
     async def compute_success_criteria(self, transformed_sensors: Dict, action) -> bool:

composabl_cli/template/skill_coordinated_set/README.md

@@ -0,0 +1,67 @@
+# README
+
+This is a template for creating a new Perceptor. A Perceptor is a component that is responsible for processing data and returning a result. This can be used for example in a Machine Learning model, where the Perceptor is responsible for processing the data and returning the prediction.
+
+## Tree Structure
+
+The template is structured as follows:
+
+```bash
+my-perceptor/           # Root folder
+├── my_perceptor/       # Main package folder
+│   ├── __init__.py     # Package init file
+│   └── perceptor.py    # Main perceptor file
+├── pyproject.toml      # Project configuration, containing [composabl]
+```
+
+## PyProject [composabl] Section
+
+We add the `[composabl]` section to the `pyproject.toml` file to specify the type of component we are creating as well as its entrypoint. This is used by the Composabl CLI to determine the type of
+component and how to handle it.
+
+Example:
+
+```
+[composabl]
+type = "teacher"
+entrypoint = "my_perceptor.perceptor:MyPerceptor"
+```
+
+## Development
+
+To work on the Perceptor, you can simply create a temporary file or main file that starts up and executes the `compute` method of the portable Perceptor. Example, we can create a `test.py` file with:
+
+```python
+from composabl_perceptor_my_perceptor.perceptor import MyPerceptor
+
+
+async def start():
+    p = MyPerceptor()
+    res = await t.compute(None, [1.0])
+    print(res)
+
+
+if __name__ == "__main__":
+    import asyncio
+
+    asyncio.run(start())
+```
+
+Which we can then run with
+
+```bash
+# Install the module
+pip install -e my-perceptor
+
+# Run the test file
+python my-perceptor/test.py
+```
+
+### Preparing for Upload
+
+Once we are ready for uploading, we can create a `.tar.gz` file that contains the version. This can be done with the following command:
+
+```bash
+# Tar GZ the plugin
+tar -czvf my-perceptor-0.0.1.tar.gz my-perceptor
+```

composabl_cli/template/{skill_coach → skill_coordinated_set}/pyproject.toml

@@ -4,9 +4,9 @@ version = "0.1.0"
 description = "{{DESCRIPTION}}"
 authors = [{ name = "John Doe", email = "john.doe@composabl.com" }]
 dependencies = [
-    "composabl-core"
+    "composabl-core{{COMPOSABL_DEV}}{{COMPOSABL_CORE_VERSION}}",
 ]
 
 [composabl]
-type = "skill-coach"
+type = "skill-coordinated-set"
 entrypoint = "{{NAME_MODULE}}.coach:Coach"

composabl_cli/template/skill_coordinated_set/{{NAME_MODULE}}/__init__.py

@@ -0,0 +1,3 @@
+# Copyright (C) Composabl, Inc - All Rights Reserved
+# Unauthorized copying of this file, via any medium is strictly prohibited
+# Proprietary and confidential

composabl_cli/template/skill_coordinated_set/{{NAME_MODULE}}/coach.py

@@ -0,0 +1,70 @@
+# Copyright (C) Composabl, Inc - All Rights Reserved
+# Unauthorized copying of this file, via any medium is strictly prohibited
+# Proprietary and confidential
+
+import math
+from typing import Dict, List
+
+from composabl_core.agent.skill.skill_coach import SkillCoach
+
+
+class Coach(SkillCoach):
+    """
+    We start at 10 reward and count down to 0 the goal is that the agent stays
+    above or equal to 0 this means it learned to cound +1 each time
+    """
+
+    def __init__(self, *args, **kwargs):
+        self.past_obs = None
+        self.counter = 10
+        self.sensor_name = "counter"
+
+    async def compute_reward(self, transformed_sensors: Dict, action, sim_reward):
+        """
+        The reward increases the closer it gets to 10, but decreases the
+        further it gets from 10 it decreases faster the further it gets
+        note: we do this through a piecewise function, where the reward is
+        100 if the counter is 10 and 0 if the counter is 0 everything above
+        10 gets a steep decrease and everything below 10 gets a small increase
+        ASCII of the Piecewise Graph
+                      ***********
+                 *****           ***
+              ***                   **
+            **                        **
+         ***                            **
+        *                                 *
+                                           **
+                                             *
+                                              *
+                                               *
+        """
+        counter = transformed_sensors[self.sensor_name]
+
+        # Small build up if < 10
+        # given by e^(counter - 10) + 100
+        if counter < 10:
+            return math.exp(counter - 10) + 100
+        # else steep decent after max reward
+        # given by -2 * e^(-|counter - 10|) + 100
+        else:
+            return -2 * math.exp(-abs(counter - 10)) + 100
+
+    async def compute_action_mask(
+        self, transformed_sensors: Dict, action
+    ) -> List[bool]:
+        return None
+
+    async def compute_success_criteria(self, transformed_sensors: Dict, action) -> bool:
+        return bool(transformed_sensors[self.sensor_name] >= 10)
+
+    async def compute_termination(self, transformed_sensors: Dict, action) -> bool:
+        return bool(transformed_sensors[self.sensor_name] <= -10)
+
+    async def transform_sensors(self, sensors, action) -> str:
+        return sensors
+
+    async def transform_action(self, transformed_sensors: Dict, action) -> float:
+        return action
+
+    async def filtered_sensor_space(self) -> List[str]:
+        return ["counter"]

composabl_cli/template/skill_teacher/pyproject.toml

@@ -4,7 +4,7 @@ version = "0.1.0"
 description = "{{DESCRIPTION}}"
 authors = [{ name = "John Doe", email = "john.doe@composabl.com" }]
 dependencies = [
-    "composabl-core"
+    "composabl-core{{COMPOSABL_DEV}}{{COMPOSABL_CORE_VERSION}}",
 ]
 
 [composabl]

composabl_cli/template/skill_teacher/{{NAME_MODULE}}/teacher.py

@@ -49,7 +49,9 @@ class Teacher(SkillTeacher):
         else:
             return -2 * math.exp(-abs(counter - 10)) + 100
 
-    async def compute_action_mask(self, transformed_sensors: Dict, action) -> List[bool]:
+    async def compute_action_mask(
+        self, transformed_sensors: Dict, action
+    ) -> List[bool]:
         return None
 
     async def compute_success_criteria(self, transformed_sensors: Dict, action) -> bool:

{composabl_cli_dev-0.10.1.dev12.dist-info → composabl_cli_dev-0.18.6.dev11.dist-info}/METADATA

@@ -1,20 +1,24 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.4
 Name: composabl-cli-dev
-Version: 0.10.1.dev12
+Version: 0.18.6.dev11
 Summary: the Composabl CLI
-Author-email: Composabl <info@composabl.com>
+Author-email: Hunter Park <hunter@composabl.io>
 Requires-Python: >=3.10, <3.12
 Description-Content-Type: text/markdown
-Requires-Dist: typer[all] ==0.11.0
+Requires-Dist: typer[all]==0.11.0
+Requires-Dist: click<8.2.0
 Requires-Dist: cython
 Requires-Dist: docker
 Requires-Dist: kubernetes
 Requires-Dist: jinja2
-Requires-Dist: composabl-core-dev >=0.10.1.dev12
-Requires-Dist: composabl-train-dev >=0.10.1.dev12
-Requires-Dist: composabl-api-dev >=0.10.1.dev12
+Requires-Dist: composabl-core-dev>=0.18.6.dev11
+Requires-Dist: composabl-train-dev>=0.18.6.dev11
+Requires-Dist: composabl-api-dev>=0.18.6.dev11
 Requires-Dist: ruff
 Requires-Dist: simple-term-menu
+Dynamic: description
+Dynamic: description-content-type
+Dynamic: requires-python
 
 # Composabl
 

composabl_cli_dev-0.18.6.dev11.dist-info/RECORD

@@ -0,0 +1,71 @@
+composabl_cli/__init__.py,sha256=S2R_1v6FRZ7Pb0vVWYZXFLcUFuRuHXYd0ZoWxYpquM8,316
+composabl_cli/k8s/util.cpython-311-darwin.so,sha256=FU-8fUqfrUygvgFSw2Ppn1htAontdboPl9amyr5TYqw,86088
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+composabl_cli/template/agent_composabl/agent.py,sha256=bgLhCZ7hHVen-8WcPgFRTw-HBIQdU2KAUNfXLySmnu4,2451
+composabl_cli/template/agent_docker/agent.py,sha256=IfgRBxWI7S2X0lakAhGQHh3HT9rGcgdlv2ttTG56KeU,2837
+composabl_cli/template/skill_teacher/pyproject.toml,sha256=LHrFqivumr9Ni3Vv7AF3KiALQWfSxgTEyiUXVV2hSx0,313
+composabl_cli/template/skill_teacher/README.md,sha256=6xT3EUAvnNT0zVaVzwVPdBFyp9tOBuQvcEYDYAbeml8,1859
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+composabl_cli/template/selector_controller/pyproject.toml,sha256=YstGAhKeJirzzd7MrHJ5clnFxnOji9oxexpOnjMZJwY,325
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