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‎.github/workflows/ci.yml‎

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name: PR CI
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on:
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pull_request:
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types: [opened, synchronize, reopened, ready_for_review]
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branches: [ main, master, develop ]
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paths-ignore:
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- '**.md'
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- 'docs/**'
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concurrency:
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group: pr-${{ github.event.pull_request.number }}-${{ github.workflow }}
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cancel-in-progress: true
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permissions:
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contents: read
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jobs:
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test:
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# 如果你只用 GitHub 托管 runner:
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runs-on: ubuntu-latest
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if: ${{ github.event.pull_request.draft == false }} # 草稿 PR 不跑
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strategy:
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fail-fast: false
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matrix:
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python-version: ['3.9', '3.11']
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os: [ubuntu-latest]
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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- name: Set up Python ${{ matrix.python-version }}
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uses: actions/setup-python@v5
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with:
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python-version: ${{ matrix.python-version }}
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- name: Cache pip
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uses: actions/cache@v4
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with:
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path: ~/.cache/pip
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key: ${{ runner.os }}-pip-${{ matrix.python-version }}-${{ hashFiles('**/requirements*.txt') }}
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restore-keys: |
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${{ runner.os }}-pip-${{ matrix.python-version }}-
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- name: Install deps
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run: |
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python -m pip install --upgrade pip
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if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
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if [ -f requirements-dev.txt ]; then pip install -r requirements-dev.txt; fi
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- name: Lint (flake8 + isort + black --check)
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run: |
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pip install flake8 isort black
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flake8 .
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isort --check-only --diff .
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black --check .
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- name: Run tests
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run: |
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pip install pytest
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pytest -q

‎.gitignore‎

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*.png
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*.ckpt
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/results/
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checkpoints
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checkpoints
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internnav/model/basemodel/LongCLIP/

‎.gitmodules‎

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[submodule "internnav/model/basemodel/LongCLIP"]
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path = internnav/model/basemodel/LongCLIP
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url = https://github.com/beichenzbc/Long-CLIP
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ignore = untracked

‎.pre-commit-config.yaml‎

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rev: v2.2.1
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hooks:
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- id: codespell
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exclude: |
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(?x)(
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^toolkits/grscenes_scripts/README.md|
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^toolkits/indoor_scenes_generation/infinigen/infinigen_examples/constraints
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)
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# - repo: https://github.com/gitleaks/gitleaks
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# rev: v8.24.0
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# hooks:
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# - id: gitleaks
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- repo: https://github.com/gitleaks/gitleaks
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rev: v8.24.0
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hooks:
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- id: gitleaks
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v3.1.0
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hooks:
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- id: trailing-whitespace
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- id: check-yaml
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- id: end-of-file-fixer
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exclude: '^(.*/lcmtypes/.*)'
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- id: requirements-txt-fixer
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- id: double-quote-string-fixer
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exclude: '^(.*/lcmtypes/.*)'
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- id: check-merge-conflict
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- id: fix-encoding-pragma
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args: ["--remove"]
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- id: mixed-line-ending
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args: ["--fix=lf"]
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# - repo: https://github.com/PyCQA/isort
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# rev: 5.11.5
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# hooks:
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# - id: isort
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# - repo: https://github.com/psf/black
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# rev: 22.10.0
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# hooks:
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# - id: black
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# args: [--line-length=79]
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# - repo: https://github.com/PyCQA/flake8
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# rev: 4.0.1
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# hooks:
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# - id: flake8
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# - repo: https://github.com/codespell-project/codespell
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# rev: v2.2.1
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# hooks:
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# - id: codespell
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# exclude: |
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# (?x)(
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# ^toolkits/grscenes_scripts/README.md|
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# ^toolkits/indoor_scenes_generation/infinigen/infinigen_examples/constraints
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# )
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# - repo: https://github.com/gitleaks/gitleaks
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# rev: v8.24.0
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# hooks:
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# - id: gitleaks
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# - repo: https://github.com/pre-commit/pre-commit-hooks
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# rev: v3.1.0
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# hooks:
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# - id: trailing-whitespace
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# - id: check-yaml
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# - id: end-of-file-fixer
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# exclude: '^(.*/lcmtypes/.*)'
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# - id: requirements-txt-fixer
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# - id: double-quote-string-fixer
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# exclude: '^(.*/lcmtypes/.*)'
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# - id: check-merge-conflict
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# - id: fix-encoding-pragma
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# args: ["--remove"]
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# - id: mixed-line-ending
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# args: ["--fix=lf"]

‎pyproject.toml‎

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[tool.isort]
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profile = "black"
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skip_glob = '**/lcmtypes/**'
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[tool.pytest.ini_options]
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# 指定测试搜索路径（避免扫到脚本目录等）
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testpaths = [
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"tests"
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]
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addopts = "-ra --color=yes --maxfail=1"
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markers = [
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"slow: marks tests as slow",
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"gpu: requires GPU"
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]

‎requirements/test.txt‎

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pytest==7.3.1
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pytest-cov==4.0.0

‎tests/conftest.py‎

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import pytest
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@pytest.fixture
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def tmp_cfg(tmp_path):
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p = tmp_path / "config.yaml"
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p.write_text("hello: world\n")
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return p
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# 按需全局 hook（例：缺 GPU 时自动跳过 gpu 标记）
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def pytest_runtest_setup(item):
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if "gpu" in item.keywords:
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try:
15+
import torch
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if not torch.cuda.is_available():
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pytest.skip("No CUDA for gpu-marked test")
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except Exception:
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pytest.skip("Torch not available")

‎tests/function_test/e2e_test.py‎

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import json
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import os
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import subprocess
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import sys
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import pytest
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def common_body(cmd_line):
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with subprocess.Popen(
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cmd_line,
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stdin=subprocess.PIPE,
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stderr=sys.stderr,
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close_fds=True,
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stdout=sys.stdout,
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universal_newlines=True,
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shell=True,
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bufsize=1,
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) as cmd:
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cmd.communicate()
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assert cmd.returncode == 0, f'real exit code is {cmd.returncode}'
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def update_jsonl_from_json(json_file_path, jsonl_file_path, update_item):
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with open(json_file_path, 'r', encoding='utf-8') as json_file:
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data = json.load(json_file)
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data = {**update_item, **data}
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if not isinstance(data, list):
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data = [data]
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with open(jsonl_file_path, 'a', encoding='utf-8') as jsonl_file:
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for item in data:
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json_line = json.dumps(item, ensure_ascii=False)
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jsonl_file.write(json_line + '\n')
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def teardown_function(function):
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if os.path.exists('./test_result.json'):
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case_info = {}
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test_name = function.__name__
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case_info['case_info'] = test_name + '_' + os.environ.get('JOB_ID')
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update_jsonl_from_json('./test_result.json', '../total_result.jsonl', case_info)
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else:
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print('Warning! There is no test_result.json')
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"""""" """""" """""" """""" """""" """""" """""" """
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Test
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""" """""" """""" """""" """""" """""" """""" """"""
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@pytest.mark.gpu
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def test_evaluator():
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start_command = 'python ./tests/function_test/test_evaluator.py'
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common_body(start_command)

‎tests/function_test/test_evaluator.py‎

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'''
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Test the evaluator eval logic without model involve.
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The main progress:
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Init => warm up => fake one action
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'''
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7+
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def main():
9+
from enum import Enum
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11+
from internnav.configs.agent import AgentCfg
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from internnav.configs.evaluator import (
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EnvCfg,
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EvalCfg,
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EvalDatasetCfg,
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SceneCfg,
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TaskCfg,
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)
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class runner_status_code(Enum):
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NORMAL = 0
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WARM_UP = 1
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NOT_RESET = 3
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TERMINATED = 2
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STOP = 4
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eval_cfg = EvalCfg(
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agent=AgentCfg(
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server_port=8087,
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model_name='rdp',
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ckpt_path='checkpoints/r2r/fine_tuned/rdp',
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model_settings={},
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),
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env=EnvCfg(
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env_type='vln_pe',
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env_settings={
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'use_fabric': False,
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'headless': True, # display option: set to False will open isaac-sim interactive window
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},
40+
),
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task=TaskCfg(
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task_name='test_evaluator',
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task_settings={
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'env_num': 2,
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'use_distributed': False, # Ray distributed framework
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'proc_num': 8,
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},
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scene=SceneCfg(
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scene_type='mp3d',
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scene_data_dir='data/scene_data/mp3d_pe',
51+
),
52+
robot_name='h1',
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robot_usd_path='data/Embodiments/vln-pe/h1/h1_vln_pointcloud.usd',
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camera_resolution=[256, 256], # (W,H)
55+
camera_prim_path='torso_link/h1_pano_camera_0',
56+
),
57+
dataset=EvalDatasetCfg(
58+
dataset_type="mp3d",
59+
dataset_settings={
60+
'base_data_dir': 'data/vln_pe/raw_data/r2r',
61+
'split_data_types': ['val_unseen', 'val_seen'],
62+
'filter_stairs': False,
63+
},
64+
),
65+
eval_settings={'save_to_json': False, 'vis_output': False}, # save result to video under logs/
66+
)
67+
print(eval_cfg)
68+
69+
# cfg = get_config(eval_cfg)
70+
# try:
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# evaluator = Evaluator.init(cfg)
72+
# except Exception as e:
73+
# print(e)
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75+
# print('--- VlnPeEvaluator start ---')
76+
# obs, reset_info = evaluator.env.reset()
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# for info in reset_info:
78+
# if info is None:
79+
# continue
80+
# progress_log_multi_util.trace_start(
81+
# trajectory_id=evaluator.now_path_key(info),
82+
# )
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# obs = evaluator.warm_up()
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# evaluator.fake_obs = obs[0][evaluator.robot_name]
86+
# action = [{evaluator.robot_name: {'stand_still': []}} for _ in range(evaluator.env_num * evaluator.proc_num)]
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# obs = evaluator._obs_remove_robot_name(obs)
88+
# evaluator.runner_status = np.full(
89+
# (evaluator.env_num * evaluator.proc_num),
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# runner_status_code.NORMAL,
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# runner_status_code,
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# )
93+
# evaluator.runner_status[[info is None for info in reset_info]] = runner_status_code.TERMINATED
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95+
# while evaluator.env.is_running():
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# obs, terminated = evaluator.env_step(action)
98+
# break
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100+
# evaluator.env.close()
101+
102+
103+
if __name__ == '__main__':
104+
try:
105+
main()
106+
except Exception as e:
107+
print(f'exception is {e}')
108+
import sys
109+
import traceback
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111+
traceback.print_exc()
112+
sys.exit(1)

‎tests/unit_test/test_basic.py‎

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import math
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3+
import pytest
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5+
6+
def add(a, b):
7+
return a + b
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10+
def test_add_works():
11+
assert add(1, 2) == 3
12+
13+
14+
@pytest.mark.parametrize("x,expected", [(0, 0.0), (math.pi, 0.0)])
15+
def test_sin(x, expected):
16+
assert math.isclose(math.sin(x), expected, abs_tol=1e-9)
17+
18+
19+
@pytest.mark.slow
20+
def test_slow_example():
21+
# 假装这里很慢
22+
assert sum(range(10000)) > 0
23+
24+
25+
@pytest.mark.gpu
26+
def test_gpu_feature():
27+
pytest.importorskip("torch")
28+
import torch
29+
30+
if not torch.cuda.is_available():
31+
pytest.skip("No CUDA available")
32+
x = torch.tensor([1.0], device="cuda")
33+
assert float(x.item()) == 1.0

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