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ChanganVRChanganVR
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add circleci config, fix interactive demo bug and update api to habitat v0.1.7
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‎.circleci/config.yml

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version: 2
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gpu: &gpu
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machine:
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image: ubuntu-1604-cuda-10.1:201909-23
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resource_class: gpu.small
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environment:
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FPS_THRESHOLD: 900
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jobs:
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python_lint:
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docker:
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- image: circleci/python:3.6
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steps:
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- checkout
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- run:
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name: setup
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command: |
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sudo pip install black flake8 flake8-builtins flake8-bugbear flake8-comprehensions flake8-return flake8-simplify "isort[pyproject]" numpy --progress-bar off
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sudo pip install -e . --progress-bar off
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- run:
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name: run black
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command: |
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black --exclude '/(\.eggs|\.git|\.hg|\.mypy_cache|\.nox|\.tox|\.venv|_build|buck-out|build|dist)|examples/tutorials/(colabs|nb_python)' soundspaces/. ss_baselines/. scripts/. setup.py --diff
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black --exclude '/(\.eggs|\.git|\.hg|\.mypy_cache|\.nox|\.tox|\.venv|_build|buck-out|build|dist)|examples/tutorials/(colabs|nb_python)' soundspaces/. ss_baselines/. scripts/. setup.py --check
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- run:
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name: run isort
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command: |
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isort --version
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isort soundspaces/. ss_baselines/. scripts/. setup.py --diff
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isort soundspaces/. ss_baselines/. scripts/. setup.py --check-only
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- run:
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name: run flake8
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command: |
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flake8 --version
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flake8 soundspaces/. ss_baselines/. scripts/. setup.py
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install_and_test_ubuntu:
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<<: *gpu
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steps:
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- checkout:
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path: ./sound-spaces
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- run:
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name: Install cmake
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no_output_timeout: 5m
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command: |
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echo $(git ls-remote https://github.com/facebookresearch/habitat-sim.git HEAD | awk '{ print $1}') > ./hsim_sha
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wget https://github.com/Kitware/CMake/releases/download/v3.13.4/cmake-3.13.4-Linux-x86_64.sh
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sudo mkdir /opt/cmake
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sudo sh ./cmake-3.13.4-Linux-x86_64.sh --prefix=/opt/cmake --skip-license
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sudo ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake
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- run:
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name: Install dependencies
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no_output_timeout: 20m
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command: |
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sudo apt-get update || true
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sudo apt-get install -y --no-install-recommends \
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build-essential \
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git \
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curl \
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vim \
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ca-certificates \
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libbullet-dev \
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libjpeg-dev \
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libglm-dev \
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libegl1-mesa-dev \
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xorg-dev \
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freeglut3-dev \
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pkg-config \
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wget \
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zip \
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libhdf5-dev \
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unzip || true
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sudo apt install --allow-change-held-packages \
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texlive-base \
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texlive-latex-extra \
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texlive-fonts-extra \
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texlive-fonts-recommended
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- run:
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name: Check CUDA
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no_output_timeout: 20m
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background: true
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command: |
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# wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1604/x86_64/cuda-repo-ubuntu1604_8.0.44-1_amd64.deb
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# sudo dpkg -i cuda-repo-ubuntu1604_8.0.44-1_amd64.deb
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# sudo apt-get update || true
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# sudo apt-get --yes --force-yes install cuda
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# touch ./cuda_installed
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nvidia-smi
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# Restore Conda cache
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- restore_cache:
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keys:
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- conda-{{ checksum "sound-spaces/.circleci/config.yml" }}
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- run:
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name: Install conda and dependencies
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no_output_timeout: 20m
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command: |
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if [ ! -d ~/miniconda ]
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then
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curl -o ~/miniconda.sh -O https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
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chmod +x ~/miniconda.sh
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~/miniconda.sh -b -p $HOME/miniconda
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rm ~/miniconda.sh
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export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
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conda create -y -n soundspaces python=3.6
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. activate soundspaces
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conda install -q -y -c conda-forge ninja ccache numpy pytest pytest-mock pytest-cov
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pip install pytest-sugar
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fi
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- run:
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name: Install pytorch
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no_output_timeout: 20m
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background: true
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command: |
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if [ ! -f ~/miniconda/pytorch_installed ]
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then
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export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
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. activate soundspaces;
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conda install -c conda-forge opencv -y
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conda install pytorch==1.7.1 torchvision==0.8.2 torchaudio==0.7.2 cudatoolkit=10.1 -c pytorch
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fi
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touch ~/miniconda/pytorch_installed
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- restore_cache:
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keys:
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- habitat-sim-{{ checksum "./hsim_sha" }}
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- restore_cache:
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keys:
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- ccache-{{ arch }}-master
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paths:
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- /home/circleci/.ccache
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- run:
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name: CCache initialization
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command: |
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export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
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. activate soundspaces;
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ccache --show-stats
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ccache --zero-stats
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ccache --max-size=10.0G
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- run:
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name: Build, install habitat-sim and run benchmark
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no_output_timeout: 30m
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command: |
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if [ ! -d ./habitat-sim ]
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then
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git clone https://github.com/facebookresearch/habitat-sim.git --recursive
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fi
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# while [ ! -f ./cuda_installed ]; do sleep 2; done # wait for CUDA
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export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
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. activate soundspaces;
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cd habitat-sim
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pip install -r requirements.txt --progress-bar off
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pip install pillow
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python -u setup.py install --headless --with-cuda --bullet
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- run:
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name: Ccache stats
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when: always
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command: |
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export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
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. activate soundspaces;
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ccache --show-stats
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- run:
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name: Download test data
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command: |
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cd sound-spaces
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wget http://dl.fbaipublicfiles.com/SoundSpaces/challenge_21/minival.tar
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tar -xvf minival.tar
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rm minival.tar
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wget http://dl.fbaipublicfiles.com/SoundSpaces/pretrained_weights.tar.xz
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tar -xvf pretrained_weights.tar.xz
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mv pretrained_weights data/
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rm pretrained_weights.tar.xz
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- save_cache:
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key: habitat-sim-{{ checksum "./hsim_sha" }}
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background: true
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paths:
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- ./habitat-sim
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- save_cache:
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key: ccache-{{ arch }}-master
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background: true
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paths:
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- /home/circleci/.ccache
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- run:
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name: Install habitat-lab
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no_output_timeout: 20m
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command: |
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export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
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. activate soundspaces;
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git clone git@github.com:facebookresearch/habitat-lab.git && cd habitat-lab && git checkout v0.1.6
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pip --version
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pip install -e .
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- run:
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name: Install sound-spaces
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no_output_timeout: 20m
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command: |
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export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
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. activate soundspaces; cd sound-spaces
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while [ ! -f ~/miniconda/pytorch_installed ]; do sleep 2; done # wait for Pytorch
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pip install -e .
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- save_cache:
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key: conda-{{ checksum "sound-spaces/.circleci/config.yml" }}
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background: true
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paths:
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- ~/miniconda
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- run:
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name: Run api tests
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no_output_timeout: 30m
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command: |
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export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
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. activate soundspaces; cd sound-spaces
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pip show torch
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python ss_baselines/av_nav/run.py --run-type eval --exp-config ss_baselines/av_nav/config/audionav/mp3d/test_telephone/audiogoal_depth.yaml EVAL_CKPT_PATH_DIR data/pretrained_weights/audionav/av_nav/mp3d/heard.pth EVAL.SPLIT val_mini
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python ss_baselines/av_nav/run.py --run-type eval --exp-config ss_baselines/av_nav/config/audionav/mp3d/test_telephone/audiogoal_depth.yaml EVAL_CKPT_PATH_DIR data/pretrained_weights/audionav/av_nav/mp3d/heard.pth EVAL.SPLIT val_mini USE_SYNC_VECENV True
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python ss_baselines/av_nav/run.py --run-type eval --exp-config ss_baselines/av_nav/config/audionav/mp3d/test_telephone/audiogoal_depth.yaml EVAL_CKPT_PATH_DIR data/pretrained_weights/audionav/av_nav/mp3d/heard.pth EVAL.SPLIT val_mini TASK_CONFIG.SIMULATOR.USE_RENDERED_OBSERVATIONS True
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workflows:
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version: 2
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install_and_test:
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jobs:
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- python_lint
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- install_and_test_ubuntu

‎configs/audionav/av_nav/mp3d/interactive_demo.yaml

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@@ -18,7 +18,7 @@ SIMULATOR:
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VIEW_CHANGE_FPS: 30
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AUDIO:
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RIR_SAMPLING_RATE: 16000
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SOURCE_SOUND_DIR: "data/sounds/demo"
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SOURCE_SOUND_DIR: "data/sounds/1s_all"
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TASK:
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TYPE: AudioNav
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DATASET:
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TYPE: "AudioNav"
42-
SPLIT: "test_demo"
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SPLIT: "val_telephone"
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CONTENT_SCENES: ["*"]
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VERSION: 'v1'
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SCENES_DIR: "data/scene_datasets/mp3d"

‎scripts/interactive_demo.py

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@@ -173,6 +173,8 @@ def following(config, env, keys):
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175175
def main():
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# import os
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# os.environ["SDL_VIDEODRIVER"] = "dummy"
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parser = argparse.ArgumentParser()
177179
# parser.add_argument('--sound', default=False, action='store_true')
178180
parser.add_argument(
@@ -184,7 +186,7 @@ def main():
184186
parser.add_argument(
185187
"--exp-config",
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type=str,
187-
required=True,
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required=False,
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default='ss_baselines/av_nav/config/audionav/mp3d/interactive_demo.yaml',
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help="path to config yaml containing info about experiment",
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)

‎setup.py

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'ss_baselines'
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],
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install_requires=[
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'habitat',
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'habitat-sim',
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'torch',
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'gym==0.10.9',
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'numpy>=1.16.1',

‎soundspaces/simulator.py

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@@ -120,7 +120,7 @@ def __init__(self, config: Config) -> None:
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self._sensor_suite = SensorSuite(sim_sensors)
122122
self.sim_config = self.create_sim_config(self._sensor_suite)
123-
self._current_scene = self.sim_config.sim_cfg.scene.id
123+
self._current_scene = self.sim_config.sim_cfg.scene_id
124124
self._action_space = spaces.Discrete(
125125
len(self.sim_config.agents[0].action_space)
126126
)
@@ -173,7 +173,7 @@ def create_sim_config(
173173
overwrite_config(
174174
config_from=self.config.HABITAT_SIM_V0, config_to=sim_config
175175
)
176-
sim_config.scene.id = self.config.SCENE
176+
sim_config.scene_id = self.config.SCENE
177177
agent_config = habitat_sim.AgentConfiguration()
178178
overwrite_config(
179179
config_from=self.get_agent_config(), config_to=agent_config
@@ -301,6 +301,13 @@ def current_source_sound(self):
301301
def is_silent(self):
302302
return self._episode_step_count > self._duration
303303

304+
@property
305+
def pathfinder(self):
306+
return self._sim.pathfinder
307+
308+
def get_agent(self, agent_id):
309+
return self._sim.get_agent(agent_id)
310+
304311
def reconfigure(self, config: Config) -> None:
305312
self.config = config
306313
if hasattr(self.config.AGENT_0, 'OFFSET'):

‎ss_baselines/av_nav/config/audionav/mp3d/interactive_demo.yaml

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reward_window_size: 50
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EVAL:
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SPLIT: "test_demo"
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SPLIT: "val_telephone"
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USE_CKPT_CONFIG: True

‎ss_baselines/av_nav/config/audionav/replica/interactive_demo.yaml

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reward_window_size: 50
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EVAL:
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SPLIT: "test_demo"
44+
SPLIT: "val_telephone"
4545
USE_CKPT_CONFIG: True

‎ss_baselines/common/sync_vector_env.py

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import gym
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import numpy as np
27-
from gym.spaces.dict_space import Dict as SpaceDict
27+
from gym.spaces import Dict as SpaceDict
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2929
import habitat
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from habitat.config import Config

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