Rewrite inference with OpenAI gym

[charlesfrye]

If this is a good idea, use hooks/callbacks to do logging, and

• watch out for state that needs to be passed around
• package logging up very tightly -- separate e.g. jetson logging from image logging from accelerometer logging (as separate callbacks?) -- rather than combining things that are coincidentally logged at the same time/with the same hook

[charlesfrye]

Use commit=False in wandb.log to avoid step increment when logging: https://docs.wandb.ai/guides/track/log#incremental-logging