Add tiptop-rerun CLI and extract run_tiptop by williamshen-nz · Pull Request #16 · tiptop-robot/tiptop

williamshen-nz · 2026-04-10T17:26:31Z

Summary

New tiptop-rerun CLI re-runs TiPToP from a saved run directory (rgb, depth, intrinsics, metadata, gripper mask). Task instruction and planning params (num_particles, max_planning_time, opt_steps_per_skeleton) default to the original run's values but can be overridden via flags.
Extract run_tiptop() from tiptop_h5.py into a new tiptop/tiptop_offline.py module that takes an Observation and runs perception + planning. run_tiptop_h5 is now a thin wrapper, and run_tiptop_rerun reuses the same core. Split offline output dirs per command (tiptop_h5_outputs/, tiptop_rerun_outputs/).
Rename save_dir → run_dir in viz-tiptop-run for consistency with the new CLI.
Save the source tiptop.yml (via shutil.copy2, preserving comments) into each run dir for reproducibility, and have tiptop-rerun load it via a new set_tiptop_cfg_from_file() helper so downstream consumers see the original run's values. Falls back to the current config / built-in cuTAMP defaults with a warning when saved files are missing.
Simplify logging setup: root logger pinned at DEBUG, console handler level configurable per entrypoint. Per-run file handler captures DEBUG for post-mortem while console stays at INFO for tiptop-h5 / tiptop-rerun.
Replace assert with raise ValueError in run_tiptop() so input checks survive python -O.

Test plan

pixi run test-integration passes on the rebased branch
Syntax-checked tiptop_offline.py, config/__init__.py, utils.py
Smoke-tested the logging split: root=DEBUG, stdout=INFO, file=DEBUG → DEBUG records reach the file but not the console
Manually reviewed rerun path defaults with and without run_dir/tiptop.yml and run_dir/cutamp/config.yml present

🤖 Generated with Claude Code

Extract run_tiptop() as a general-purpose function that takes an Observation and runs perception + planning, making it reusable beyond H5 files. Add tiptop_rerun.py which loads observations from saved run directories and feeds them into run_tiptop, with planning parameters defaulting to the original run's cuTAMP config. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Both viz_tiptop_run and tiptop_rerun load from a previous run directory, so use run_dir consistently instead of save_dir. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Add command reference documentation for the new tiptop-rerun CLI. Update viz-tiptop-run docs to reflect the save-dir → run-dir rename for consistency. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Both share run_tiptop() and only differ in how they load the observation. Merging them into a single module reduces duplication and keeps all offline (no real robot) pipeline code together. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Both tiptop-h5 and tiptop-rerun now default to tiptop_offline_outputs/. Simplify gitignore with tiptop_*_outputs/ glob to cover all variants. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

More realistic to show rerunning from a live robot run directory. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Follows the run_tiptop / run_tiptop_h5 / run_tiptop_rerun naming pattern. Also fixes stale tiptop_rerun_outputs default that was missed earlier. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

That's what TiPToP is — no need to spell it out every time. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

The module has two entrypoints (h5, rerun) — picking one for __main__ is misleading. Use the CLI commands instead. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Simplify tiptop_offline.py by removing unnecessary section divider comments and inlining the 3-line _load_cutamp_config helper into its sole caller. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Copilot

Pull request overview

This PR consolidates TiPToP’s offline execution paths by extracting a reusable run_tiptop() pipeline function and adding a new tiptop-rerun CLI to re-run from previously saved run directories.

Changes:

Added tiptop/tiptop_offline.py with run_tiptop(), plus tiptop-h5 and new tiptop-rerun CLI entrypoints.
Removed the old tiptop/tiptop_h5.py implementation and rewired entrypoints/tests to the new module.
Updated run visualization CLI/docs to use run_dir naming and documented the new tiptop-rerun command.

Reviewed changes

Copilot reviewed 6 out of 7 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
tiptop/tiptop_offline.py	New shared offline pipeline + H5 loader + rerun loader/CLI entrypoints
tiptop/tiptop_h5.py	Deleted legacy H5-only runner in favor of consolidated offline module
tiptop/scripts/viz_tiptop_run.py	Renamed CLI arg to `run_dir` and made point cloud logging static
tests/test_tiptop_h5.py	Updated import path for `run_tiptop_h5`
pyproject.toml	Added `tiptop-rerun` entrypoint and repointed `tiptop-h5` to new module
docs/command-reference.md	Updated `tiptop-h5` defaults and added `tiptop-rerun` docs + `run_dir` rename
.gitignore	Generalized ignore pattern for `tiptop_*_outputs/`

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

- Replace asserts in run_tiptop() with explicit ValueError so validation survives python -O - Fix H5 loader docstring: pi-sim-evals -> droid-sim-evals to match the rest of the docs - run_tiptop_rerun now loads the saved tiptop.yml from the run directory via new set_tiptop_cfg_from_file() helper, so downstream tiptop_cfg() consumers see the original run's robot/perception settings instead of drifting with the local config

Older runs (or runs where planning failed before the config was written) may not have a cutamp/config.yml. Instead of hard-failing, run_tiptop_rerun now warns and uses the same defaults as tiptop-h5. Defaults are lifted into module-level constants so both entrypoints share a single source of truth.

- Split offline output dirs per command: tiptop-h5 -> tiptop_h5_outputs, tiptop-rerun -> tiptop_rerun_outputs. Both still covered by the tiptop_*_outputs/ gitignore glob. Easier to tell at a glance which command produced which run. - Drop DEFAULT_* module-level constants; inline 60.0/500/256 in run_tiptop_h5 signature and in the rerun fallback with a comment pointing at tiptop-h5 as the source of truth. Matches the magic-number pattern used in tiptop_run.py. - Make console and file log levels separable: setup_logging now pins its stdout handler to the requested level explicitly, and add_file_handler lowers the root logger when the file handler is more verbose. Net for tiptop-h5 / tiptop-rerun: console stays at INFO, the run log captures DEBUG detail for post-mortem.

Copilot

Pull request overview

Copilot reviewed 8 out of 9 changed files in this pull request and generated 3 comments.

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

Split logging responsibilities cleanly: `setup_logging()` + banner are now called once per entrypoint (`h5_entrypoint`, `rerun_entrypoint`) with `root_level=DEBUG` so the later-added file handler captures debug, while the stdout handler stays at INFO. `add_file_handler` / `remove_file_handler` are back to simple add/remove pairs with no root-level juggling. `save_run_outputs` now writes the effective merged OmegaConf to `run_dir/tiptop.yml` instead of copying the file on disk, so CLI overrides are captured and reproducible via `tiptop-rerun`. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

Drop the `root_level` parameter. Root is pinned at DEBUG so later-added handlers (per-run file handler) can filter at their own level — the standard Python logging idiom per the cookbook. `level` only controls the stdout console handler, which is what callers actually care about. Net effect across call sites: - `tiptop-h5` / `tiptop-rerun`: console=INFO, file=DEBUG (unchanged) - `tiptop_run`: setup_logging(DEBUG) → console=DEBUG, file=DEBUG (unchanged) - `tiptop_websocket_server`: setup_logging() → console=INFO, file now correctly captures DEBUG (was silently dropped before) - All script entrypoints: identical console output (no file handler) Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

…ents `tiptop_cfg()` and `set_tiptop_cfg_from_file()` now stash the source path alongside the cached config, exposed via `get_tiptop_cfg_path()`. `save_run_outputs` uses `shutil.copy2` on that cached path so: - Comments and formatting in `tiptop.yml` are preserved in the run dir. - Rerun-of-a-rerun chains forward the original source file correctly (previously the hardcoded `tiptop_config_path` would always copy the repo default, masking the actual config used). Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

Keep `_cached_cfg` and `_cached_cfg_path` in sync via a single `_load_and_cache()` helper so both globals can only be set together. `tiptop_cfg()` and `set_tiptop_cfg_from_file()` become thin wrappers. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

Only referenced inside config/__init__.py now — callers go through get_tiptop_cfg_path(), which respects set_tiptop_cfg_from_file() overrides. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

Only one reference now — no reason to keep a module-level variable. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

Drop the private `_load_and_cache` helper; `set_tiptop_cfg_from_file` is the cache mutator, and `tiptop_cfg` delegates to it for the default path. One function, not two, does the work. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

Copilot

Pull request overview

Copilot reviewed 10 out of 11 changed files in this pull request and generated 1 comment.

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

All entrypoints use tyro; no one feeds CLI args into OmegaConf, so the merge was a no-op. Removing it makes the loader's behaviour honest and confirms the cached cfg always equals the source file. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

Copilot

Pull request overview

Copilot reviewed 10 out of 11 changed files in this pull request and generated 2 comments.

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

Document all changes since v0.1.0, including the breaking CLI/API changes (viz-tiptop-run --save-dir -> --run-dir, tiptop_cfg() dropping force_reload and OmegaConf.from_cli) and the new tiptop-rerun CLI. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

…released Address PR #16 feedback on changelog hygiene: - Convert #NN references to reference-style links that work in rendered md - Collect the two breaks into a dedicated Breaking Changes section - Set the release date instead of "Unreleased" (tagged on merge) - Verified coverage of all PRs since v0.1.0 (#14, #19, #20, #21, #23, #26, #27) Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

Copilot

Pull request overview

Copilot reviewed 11 out of 12 changed files in this pull request and generated no new comments.

williamshen-nz and others added 8 commits April 10, 2026 13:26

Rename save_dir to run_dir in viz_tiptop_run for consistency

231d8e3

Both viz_tiptop_run and tiptop_rerun load from a previous run directory, so use run_dir consistently instead of save_dir. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Add tiptop-rerun to docs and update viz-tiptop-run flag naming

dfe0f7f

Add command reference documentation for the new tiptop-rerun CLI. Update viz-tiptop-run docs to reflect the save-dir → run-dir rename for consistency. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Unify offline output directory and simplify gitignore

0f0ff03

Both tiptop-h5 and tiptop-rerun now default to tiptop_offline_outputs/. Simplify gitignore with tiptop_*_outputs/ glob to cover all variants. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Use tiptop_outputs in tiptop-rerun doc examples

16d01a5

More realistic to show rerunning from a live robot run directory. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Rename rerun_tiptop to run_tiptop_rerun for consistency

d9d36d3

Follows the run_tiptop / run_tiptop_h5 / run_tiptop_rerun naming pattern. Also fixes stale tiptop_rerun_outputs default that was missed earlier. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Trim redundant 'perception and planning' from docstrings and docs

28ca5fd

That's what TiPToP is — no need to spell it out every time. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

williamshen-nz force-pushed the will/tiptop-rerun branch from d21c978 to 28ca5fd Compare April 10, 2026 18:24

williamshen-nz and others added 2 commits April 10, 2026 14:26

Remove ambiguous __main__ block from tiptop_offline

c14f665

The module has two entrypoints (h5, rerun) — picking one for __main__ is misleading. Use the CLI commands instead. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Remove section comments and inline _load_cutamp_config

bffce33

Simplify tiptop_offline.py by removing unnecessary section divider comments and inlining the 3-line _load_cutamp_config helper into its sole caller. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

NishanthJKumar marked this pull request as ready for review April 13, 2026 20:29

NishanthJKumar marked this pull request as draft April 13, 2026 20:37

williamshen-nz requested a review from Copilot April 13, 2026 20:45

Copilot started reviewing on behalf of williamshen-nz April 13, 2026 20:45 View session

Copilot AI reviewed Apr 13, 2026

View reviewed changes

Comment thread tiptop/tiptop_offline.py Outdated

Comment thread tiptop/tiptop_offline.py

Comment thread tiptop/tiptop_offline.py Outdated

Comment thread tiptop/tiptop_offline.py Outdated

Comment thread tiptop/tiptop_offline.py

williamshen-nz added 3 commits April 21, 2026 14:53

Merge remote-tracking branch 'origin/main' into will/tiptop-rerun

5ea71aa

williamshen-nz commented Apr 21, 2026

View reviewed changes

Comment thread docs/command-reference.md Outdated

Comment thread tiptop/tiptop_offline.py Outdated

Comment thread tiptop/tiptop_offline.py Outdated

williamshen-nz added 2 commits April 21, 2026 15:28

Shorten verbose inline comments added in the rerun work

69e82ff

williamshen-nz requested a review from Copilot April 21, 2026 19:34

Copilot started reviewing on behalf of williamshen-nz April 21, 2026 19:34 View session

Copilot AI reviewed Apr 21, 2026

View reviewed changes

Comment thread tiptop/utils.py Outdated

Comment thread tiptop/tiptop_offline.py

Comment thread tiptop/tiptop_offline.py

williamshen-nz and others added 5 commits April 21, 2026 15:50

Privatize tiptop_config_path

caaea80

Only referenced inside config/__init__.py now — callers go through get_tiptop_cfg_path(), which respects set_tiptop_cfg_from_file() overrides. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

williamshen-nz and others added 3 commits April 21, 2026 21:32

Inline the default tiptop.yml path

4ee752c

Only one reference now — no reason to keep a module-level variable. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

Tighten docstrings in tiptop_cfg and file handler helpers

c102ad9

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

williamshen-nz requested a review from Copilot April 22, 2026 01:44

Copilot started reviewing on behalf of williamshen-nz April 22, 2026 01:44 View session

Copilot AI reviewed Apr 22, 2026

View reviewed changes

Comment thread tiptop/recording.py

williamshen-nz and others added 3 commits April 21, 2026 21:51

Drop unused force_reload arg from tiptop_cfg

d8c97ba

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

Note call-order requirement in set_tiptop_cfg_from_file docstring

d9f7817

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

williamshen-nz requested a review from Copilot April 22, 2026 01:56

Copilot started reviewing on behalf of williamshen-nz April 22, 2026 01:56 View session

Copilot AI reviewed Apr 22, 2026

View reviewed changes

Comment thread tiptop/tiptop_offline.py

Comment thread tiptop/config/__init__.py

williamshen-nz marked this pull request as ready for review April 22, 2026 02:09

williamshen-nz requested a review from NishanthJKumar April 22, 2026 02:09

williamshen-nz and others added 2 commits May 30, 2026 18:21

Merge remote-tracking branch 'origin/main' into will/tiptop-rerun

06e5273

ryanlindeborg reviewed Jun 1, 2026

View reviewed changes

Comment thread tiptop/tiptop_offline.py

Comment thread tiptop/tiptop_offline.py

ryanlindeborg approved these changes Jun 1, 2026

View reviewed changes

williamshen-nz commented Jun 5, 2026

View reviewed changes

Comment thread CHANGELOG.md

williamshen-nz requested a review from Copilot June 5, 2026 02:17

Copilot started reviewing on behalf of williamshen-nz June 5, 2026 02:17 View session

Copilot AI reviewed Jun 5, 2026

View reviewed changes

ryanlindeborg approved these changes Jun 5, 2026

View reviewed changes

williamshen-nz merged commit 371374d into main Jun 5, 2026
1 check passed

williamshen-nz deleted the will/tiptop-rerun branch June 5, 2026 03:03

Conversation

williamshen-nz commented Apr 10, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Summary

Test plan

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Reviewed changes

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Uh oh!

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

williamshen-nz commented Apr 10, 2026 •

edited

Loading