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Native pickling, updated opt_tools

Kevin Haninger requested to merge 40-bump-to-opt_tools-v0-2-0 into main

Closes #40 (closed). Pickle works out of the box for FrankaData and DynSliceDataset. Not DynSliceDataloader, as this has a generator for the iterator which wont pickle.

Changelog:

  • Patched opt_tools where we dont use inheritance for (Traj, Batch, TrajBatch) but just a metadata field. Moved lots that's not needed for you guys here to OptVarSet. A few new helper fns for shapes and casting in opt_tools.
  • moved tests from foot of dyn_slice_dataset to tests/test_dynslice.py and tests/test_data_load for the fake/real data respectively
  • python -m pytest results in tests.{training_real_data, test_flattening, test_data_load, test_dyn_slice} working

Questions:

  • tests/
    • loading_data.py is not a test? Also it's loading models?
    • do we have a test for pickling/unpickling models?
  • trained_model_tests are not in .gitignore intentionally?
  • create_dataloader/create_data is dead? Or at most oneliners that we can merge?
  • utils/validation_fn::plot_* are commented out?
Edited by Kevin Haninger

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