refactor: unify entry points into a Click CLI (grl-snam); tools/ + demos/ packages; consolidate onto pycvc_gl - #20
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…es; consolidate onto pycvc_gl
A single 'grl-snam' CLI replaces the scattered scripts/ + examples/ entry points and
the two ad-hoc console scripts. Verified end-to-end: 'grl-snam pipeline <bundle>' runs
world-model -> SDF -> train -> HUD video (penetration=0) from nothing but terrain.json
+ buildings.glb.
CLI (grl_snam/cli.py): selftest, obstacles, build-sdf, train, capture {drive,multigoal},
pipeline, demo <name>, lab-demo, eval, train-coef, train-geo.
New clean, linted package layer under grl_snam/ (research core stays at root):
- tools/{obstacles,sdf,train,capture,pipeline}.py — the scripts' logic as importable
functions (lazy pycvc_gl/VTK imports; import-safe everywhere).
- nav.py — ONE SdfNavigator (replaces nav logic copy-pasted across 4 scripts) +
select_reachable_goals; emits NavMetrics every step.
- metrics.py — NavMetrics/NavStats + hud_lines: a live read-out of the network's
coefficients (a,b,g), clearance, mode, penetration, progress. capture draws it as an
on-frame HUD; demos publish it to the state tree (grl_snam.metrics.*) — the HUD hook.
- demos/{austin_freedrive,austin_learned,austin_planner,austin_patrol,lab}.py — the
volrover demos, in the package, with a runtime vrhost/pycvc guard; 'grl-snam demo NAME'
runs them via 'volrover3 --run-job'.
Consolidation:
- Retired grl_snam_lab/ (a redundant fork of pycvc_gl, which supersets it); its analytic
demo moved to grl_snam/demos/lab.py on pycvc_gl.
- Removed examples/ (moved to grl_snam/demos) + the utility scripts moved to tools/ +
dead/broken legacy scripts (spline_dataset_maximin, large_scale_ex, working_spline_pathwise,
check_dataset). Kept the referenced dataset generators + the research core.
- pyproject: add click; fix sdf_nav.py packaging (was omitted — a real bug); grl-snam
entry point (+ selftest/lab-demo aliases). Net -2200 lines.
- Kept eval_coef_energy/train_coef_energy/train_on_geometry (CoefEnergyNet track) at
root/scripts, unified under the CLI (eval/train-coef/train-geo) — the real-time HUD
source for later.
Tests: test_cli (CLI wiring), test_nav (SdfNavigator + metrics on a synthetic field),
test_lab (rewritten for grl_snam.demos.lab). black + ruff clean; 15 tests pass.
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One
grl-snamCLI replaces the scatteredscripts/+examples/entry points. Verified end-to-end:grl-snam pipeline <bundle>runs world model → SDF → train → HUD video (penetration=0) from nothing butterrain.json+buildings.glb.The CLI
grl-snam {selftest, obstacles, build-sdf, train, capture drive|multigoal, pipeline, demo NAME, lab-demo, eval, train-coef, train-geo}New clean, linted layer under
grl_snam/tools/—obstacles,sdf,train,capture,pipeline: the scripts' logic as importable functions (lazypycvc_gl/VTK imports → import-safe anywhere).nav.py— ONESdfNavigator(the nav loop was copy-pasted across 4 scripts) +select_reachable_goals; emitsNavMetricsevery step.metrics.py— live read-out of the network's coefficients (α,β,γ), clearance, mode, penetration, progress.capturedraws it as an on-frame HUD; the demos publish it to the state tree (grl_snam.metrics.*) — the hook for an in-app HUD panel.demos/— the volrover demos, in the package, with a runtimevrhostguard;grl-snam demo NAMEruns them viavolrover3 --run-job.Consolidation (per direction)
grl_snam_lab/— a redundant fork ofpycvc_gl(which supersets it: sameLab/terrain_mesh/ChaseCamera/VehiclePose/scenes); its analytic demo moved togrl_snam/demos/lab.pyonpycvc_gl.examples/(→grl_snam/demos), the utility scripts (→tools/), and dead/broken legacy scripts. Kept the referenced dataset generators + the research core.sdf_nav.pypackaging (it was omitted from the package — a real bug). Addedclick. Net −2,200 lines.eval_coef_energy/train_coef_energy/train_on_geometry(the CoefEnergyNet track, incl. the real-time HUD source) unified under the CLI.Tests / CI
test_cli,test_nav(SdfNavigator + metrics on a synthetic field),test_lab(rewritten). black + ruff clean; 15 tests pass.