SikongJueluo/Mini-Nav
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chore(project): update configuration files and dependencies

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SikongJueluo
2026-03-24 17:39:00 +08:00
parent f60669cd53
commit 55750f1087
7 changed files with 280 additions and 238 deletions
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1
.gitignore vendored
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@@ -211,6 +211,7 @@ datasets/
data/ data/
deps/ deps/
outputs/ outputs/
.vscode/
# Vibe Coding # Vibe Coding
.sisyphus .sisyphus

2
.justfile
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@@ -34,7 +34,7 @@ docker:
marimo: marimo:
export UV_PROJECT_ENVIRONMENT="/workspace/envs/mini-nav/" \ export UV_PROJECT_ENVIRONMENT="/workspace/envs/mini-nav/" \
&& uv run marimo edit ./mini-nav/habitat/test.py --host 0.0.0.0 --port 2718 && uv run marimo edit ./notebooks/verification.py --host 0.0.0.0 --port 2718
add +packages: add +packages:
uv add {{ packages }} --no-sync uv add {{ packages }} --no-sync

5
.stignore
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@@ -3,3 +3,8 @@
.venv .venv
.pytest_cache .pytest_cache
.ruff_cache .ruff_cache
.backup
.opencode
data
datasets
deps

2
environment.yml
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@@ -15,4 +15,4 @@ dependencies:
# Toolsets # Toolsets
- uv - uv
- just - just
- nodejs - nodejs>=20.0.0

159
mini-nav/habitat/test.py
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@@ -1,159 +0,0 @@
import marimo
__generated_with = "0.21.1"
app = marimo.App()
@app.cell
def _():
import habitat_sim
from habitat_sim import ShortestPath
import numpy as np
import plotly.express as px
from matplotlib import pyplot as plt
return ShortestPath, habitat_sim, np, plt
@app.cell
def _(habitat_sim):
# 配置场景
scene_path = "data/scene_datasets/habitat-test-scenes/skokloster-castle.glb"
sim_cfg = habitat_sim.SimulatorConfiguration()
sim_cfg.scene_id = scene_path
sim_cfg.enable_physics = False
return (sim_cfg,)
@app.cell
def _(habitat_sim, sim_cfg):
# 配置 agent
agent_cfg = habitat_sim.agent.AgentConfiguration()
rgb_sensor_spec = habitat_sim.CameraSensorSpec()
rgb_sensor_spec.uuid = "color_sensor"
rgb_sensor_spec.sensor_type = habitat_sim.SensorType.COLOR
rgb_sensor_spec.resolution = [256, 256]
rgb_sensor_spec.position = [0.0, 1.5, 0.0]
agent_cfg.sensor_specifications = [rgb_sensor_spec]
# 创建 simulator 实例
cfg = habitat_sim.Configuration(sim_cfg, [agent_cfg])
sim = habitat_sim.Simulator(cfg)
return (sim,)
@app.cell
def _(habitat_sim, plt, sim):
# 初始化 agent
agent = sim.initialize_agent(0)
# 设置 agent 初始位置：使用可导航点，而不是写死 [0,0,0]
agent_state = habitat_sim.AgentState()
agent_state.position = sim.pathfinder.get_random_navigable_point()
agent.set_state(agent_state)
state = agent.get_state()
print("位置:", state.position)
print("旋转四元数:", state.rotation)
observations = sim.get_sensor_observations()
rgb_image = observations["color_sensor"]
print("RGB shape:", rgb_image.shape)
print("RGB min/max:", rgb_image[..., :3].min(), rgb_image[..., :3].max())
plt.imshow(rgb_image)
plt.axis("off")
plt.show()
return (agent,)
@app.cell
def _(agent, plt, sim):
action_names = list(agent.agent_config.action_space.keys())
print("可用动作:", action_names)
# 进行一步移动
sim.step("move_forward")
import random
6
for i in range(5):
action = random.choice(action_names)
obs = sim.step(action)
rgb = obs["color_sensor"]
plt.imshow(rgb)
plt.axis("off")
plt.show()
return
@app.cell
def _(sim):
pathfinder = sim.pathfinder
print("NavMesh是否加载:", pathfinder.is_loaded)
print("可导航面积:", pathfinder.navigable_area)
print("场景边界:", pathfinder.get_bounds())
# 获取随机可导航点
rand_point = pathfinder.get_random_navigable_point()
print("随机可导航点:", rand_point)
return (pathfinder,)
@app.cell
def _(ShortestPath, pathfinder):
start = pathfinder.get_random_navigable_point()
end = pathfinder.get_random_navigable_point()
path = ShortestPath()
path.requested_start = start
path.requested_end = end
found = pathfinder.find_path(path)
print("是否找到路径:", found)
print("路径点:", path.points)
print("路径长度:", path.geodesic_distance)
return path, start
@app.cell
def _(path, pathfinder, plt, sim, start):
from habitat.utils.visualizations import maps
top_down_map = maps.get_topdown_map(
pathfinder, height=start[1], meters_per_pixel=0.05
)
# 绘制路径
trajectory = [
maps.to_grid(p[2], p[0], top_down_map.shape, pathfinder=sim.pathfinder)
for p in path.points
]
maps.draw_path(top_down_map, trajectory)
plt.imshow(top_down_map)
plt.axis("off")
plt.show()
return
@app.cell
def _(habitat_sim, np):
# 高级控制：连续动作和滑动碰撞
vel_control = habitat_sim.physics.VelocityControl()
vel_control.controlling_lin_vel = True
vel_control.lin_vel_is_local = True
vel_control.controlling_ang_vel = True
# 设置线速度和角速度
vel_control.linear_velocity = np.array([0, 0, -1.0]) # forward
vel_control.angular_velocity = np.array([0, 0.1, 0]) # rotation
return
if __name__ == "__main__":
app.run()

6
pyproject.toml
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@@ -13,8 +13,7 @@ dependencies = [
"habitat-baselines>=0.3.320250127", "habitat-baselines>=0.3.320250127",
"habitat-lab>=0.3.320250127", "habitat-lab>=0.3.320250127",
"httpx[socks]>=0.28.1", "httpx[socks]>=0.28.1",
"lancedb>=0.27.1", "marimo[mcp]>=0.21.1",
"marimo>=0.21.1",
"matplotlib>=3.10.8", "matplotlib>=3.10.8",
"polars[database,numpy,pandas,pydantic]>=1.37.1", "polars[database,numpy,pandas,pydantic]>=1.37.1",
"pyarrow>=23.0.0", "pyarrow>=23.0.0",
@@ -38,3 +37,6 @@ dev = [
[tool.ty.environment] [tool.ty.environment]
root = ["./mini-nav"] root = ["./mini-nav"]
[tool.marimo.runtime]
pythonpath = ["mini-nav"]

343
uv.lock generated
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] ]
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