chore(dev): update environment and tooling configuration

.envrc

@@ -2,11 +2,18 @@
 
 export DIRENV_WARN_TIMEOUT=20s
 
-eval "$(devenv direnvrc)"
+# 尝试加载 devenv 的 direnv 配置
+if command -v devenv >/dev/null 2>&1; then
+    # 如果存在 devenv
+    eval "$(devenv direnvrc)"
 
-# `use devenv` supports the same options as the `devenv shell` command.
+    # `use devenv` 支持和 `devenv shell` 相同的选项
-#
+    # 示例：use devenv --quiet --impure --option services.postgres.enable:bool true
-# To silence all output, use `--quiet`.
+    use devenv
-#
+else
-# Example usage: use devenv --quiet --impure --option services.postgres.enable:bool true
+    # 如果不存在 devenv，则加载自己的 fallback 配置
-use devenv -i
+    echo "devenv not found, loading fallback configuration..."
+
+    export UV_PROJECT_ENVIRONMENT="/workspace/envs/mini-nav"
+    export MY_DEV_ENV=1
+fi

.gitignore

@@ -227,3 +227,8 @@ devenv.local.yaml
 
 # pre-commit
 .pre-commit-config.yaml
+
+# syncthing
+.stversions/
+.stfolder/
+.backup/

.justfile

@@ -0,0 +1,53 @@
+upload:
+    rsync -avLh --progress --stats --itemize-changes \
+    --exclude='.jj/' \
+    --exclude='.git/' \
+    --exclude='.devenv/' \
+    --exclude='.direnv/' \
+    --exclude='deps/' \
+    --exclude='outputs/' \
+    --exclude='data/versioned_data/' \
+    . ial-jumper-ial-pangyg:/home/ial-pangyg/docker-workspace/projects/mini-nav/
+
+download:
+    rsync -avLh --progress --stats --itemize-changes \
+    ial-jumper-ial-pangyg:/home/ial-pangyg/docker-workspace/projects/mini-nav/outputs .
+
+sync-pkgs:
+    # micromamba env create -f ./environment.yml
+    export UV_PROJECT_ENVIRONMENT="/workspace/envs/mini-nav/" && uv sync --inexact
+
+sync-data:
+    python -m habitat_sim.utils.datasets_download --uids habitat_test_scenes --data-path data/
+    python -m habitat_sim.utils.datasets_download --uids habitat_example_objects --data-path data/
+
+ssh:
+    ssh \
+    -L 127.0.0.1:22001:127.0.0.1:22000 \
+    -R 127.0.0.1:22001:127.0.0.1:22000 \
+    -L 127.0.0.1:8385:127.0.0.1:8384 \
+    -L 127.0.0.1:2718:172.30.0.2:2718 \
+    ial-gpu_workstation_1
+
+docker:
+    docker exec -it docker-ial-pangyg bash
+
+marimo:
+    export UV_PROJECT_ENVIRONMENT="/workspace/envs/mini-nav/" \
+    && uv run marimo edit ./mini-nav/habitat/test.py --host 0.0.0.0 --port 2718
+
+add +packages:
+    uv add {{ packages }} --no-sync
+    just sync-pkgs
+
+remove +packages:
+    uv remove {{ packages }} --no-sync
+    just sync-pkgs
+
+add-dev +packages:
+    uv add {{ packages }} --group dev --no-sync
+    just sync-pkgs
+
+remove-dev +packages:
+    uv remove {{ packages }} --group dev --no-sync
+    just sync-pkgs

.python-version

@@ -1 +1 @@
-3.13
+3.10

.stignore

@@ -0,0 +1,5 @@
+.git
+.jj
+.venv
+.pytest_cache
+.ruff_cache

AGENTS.md

@@ -1,104 +0,0 @@
-# Memorix — Automatic Memory Rules
-
-You have access to Memorix memory tools. Follow these rules to maintain persistent context across sessions.
-
-## RULE 1: Session Start — Load Context
-
-At the **beginning of every conversation**, BEFORE responding to the user:
-
-1. Call `memorix_session_start` to get the previous session summary and key memories (this is a direct read, not a search — no fragmentation risk)
-2. Then call `memorix_search` with a query related to the user's first message for additional context
-3. If search results are found, use `memorix_detail` to fetch the most relevant ones
-4. Reference relevant memories naturally — the user should feel you "remember" them
-
-## RULE 2: Store Important Context
-
-**Proactively** call `memorix_store` when any of the following happen:
-
-### What MUST be recorded:
-- Architecture/design decisions → type: `decision`
-- Bug identified and fixed → type: `problem-solution`
-- Unexpected behavior or gotcha → type: `gotcha`
-- Config changed (env vars, ports, deps) → type: `what-changed`
-- Feature completed or milestone → type: `what-changed`
-- Trade-off discussed with conclusion → type: `trade-off`
-
-### What should NOT be recorded:
-- Simple file reads, greetings, trivial commands (ls, pwd, git status)
-
-### Use topicKey for evolving topics:
-For decisions, architecture docs, or any topic that evolves over time, ALWAYS use `topicKey` parameter.
-This ensures the memory is UPDATED instead of creating duplicates.
-Use `memorix_suggest_topic_key` to generate a stable key.
-
-Example: `topicKey: "architecture/auth-model"` — subsequent stores with the same key update the existing memory.
-
-### Track progress with the progress parameter:
-When working on features or tasks, include the `progress` parameter:
-```json
-{
-  "progress": {
-    "feature": "user authentication",
-    "status": "in-progress",
-    "completion": 60
-  }
-}
-```
-Status values: `in-progress`, `completed`, `blocked`
-
-## RULE 3: Resolve Completed Memories
-
-When a task is completed, a bug is fixed, or information becomes outdated:
-
-1. Call `memorix_resolve` with the observation IDs to mark them as resolved
-2. Resolved memories are hidden from default search, preventing context pollution
-
-This is critical — without resolving, old bug reports and completed tasks will keep appearing in future searches.
-
-## RULE 4: Session End — Store Decision Chain Summary
-
-When the conversation is ending, create a **decision chain summary** (not just a checklist):
-
-1. Call `memorix_store` with type `session-request` and `topicKey: "session/latest-summary"`:
-
-   **Required structure:**
-   ```
-   ## Goal
-   [What we were working on — specific, not vague]
-
-   ## Key Decisions & Reasoning
-   - Chose X because Y. Rejected Z because [reason].
-   - [Every architectural/design decision with WHY]
-
-   ## What Changed
-   - [File path] — [what changed and why]
-
-   ## Current State
-   - [What works now, what's pending]
-   - [Any blockers or risks]
-
-   ## Next Steps
-   - [Concrete next actions, in priority order]
-   ```
-
-   **Critical: Include the "Key Decisions & Reasoning" section.** Without it, the next AI session will lack the context to understand WHY things were done a certain way and may suggest conflicting approaches.
-
-2. Call `memorix_resolve` on any memories for tasks completed in this session
-
-## RULE 5: Compact Awareness
-
-Memorix automatically compacts memories on store:
-- **With LLM API configured:** Smart dedup — extracts facts, compares with existing, merges or skips duplicates
-- **Without LLM (free mode):** Heuristic dedup — uses similarity scores to detect and merge duplicate memories
-- **You don't need to manually deduplicate.** Just store naturally and compact handles the rest.
-- If you notice excessive duplicate memories, call `memorix_deduplicate` for batch cleanup.
-
-## Guidelines
-
-- **Use concise titles** (~5-10 words) and structured facts
-- **Include file paths** in filesModified when relevant
-- **Include related concepts** for better searchability
-- **Always use topicKey** for recurring topics to prevent duplicates
-- **Always resolve** completed tasks and fixed bugs
-- **Always include reasoning** — "chose X because Y" is 10x more valuable than "did X"
-- Search defaults to `status="active"` — use `status="all"` to include resolved memories

devenv.lock

@@ -3,10 +3,11 @@
     "devenv": {
       "locked": {
         "dir": "src/modules",
-        "lastModified": 1769601151,
+        "lastModified": 1773767086,
+        "narHash": "sha256-3eKyl4LXswf6P17/u59x8oQXDgCfYX+UX0uh7YHFwJc=",
         "owner": "cachix",
         "repo": "devenv",
-        "rev": "b2ef1164b4f330d6b11c6ad3da962452eab7b3bb",
+        "rev": "a5e5a7f8b1c9a7f33f9d82192b692768b39ec710",
         "type": "github"
       },
       "original": {
@@ -16,27 +17,13 @@
         "type": "github"
       }
     },
-    "flake-compat": {
-      "flake": false,
-      "locked": {
-        "lastModified": 1767039857,
-        "owner": "NixOS",
-        "repo": "flake-compat",
-        "rev": "5edf11c44bc78a0d334f6334cdaf7d60d732daab",
-        "type": "github"
-      },
-      "original": {
-        "owner": "NixOS",
-        "repo": "flake-compat",
-        "type": "github"
-      }
-    },
     "flake-utils": {
       "inputs": {
         "systems": "systems"
       },
       "locked": {
         "lastModified": 1731533236,
+        "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
         "owner": "numtide",
         "repo": "flake-utils",
         "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
@@ -48,47 +35,6 @@
         "type": "github"
       }
     },
-    "git-hooks": {
-      "inputs": {
-        "flake-compat": "flake-compat",
-        "gitignore": "gitignore",
-        "nixpkgs": [
-          "nixpkgs"
-        ]
-      },
-      "locked": {
-        "lastModified": 1769069492,
-        "owner": "cachix",
-        "repo": "git-hooks.nix",
-        "rev": "a1ef738813b15cf8ec759bdff5761b027e3e1d23",
-        "type": "github"
-      },
-      "original": {
-        "owner": "cachix",
-        "repo": "git-hooks.nix",
-        "type": "github"
-      }
-    },
-    "gitignore": {
-      "inputs": {
-        "nixpkgs": [
-          "git-hooks",
-          "nixpkgs"
-        ]
-      },
-      "locked": {
-        "lastModified": 1762808025,
-        "owner": "hercules-ci",
-        "repo": "gitignore.nix",
-        "rev": "cb5e3fdca1de58ccbc3ef53de65bd372b48f567c",
-        "type": "github"
-      },
-      "original": {
-        "owner": "hercules-ci",
-        "repo": "gitignore.nix",
-        "type": "github"
-      }
-    },
     "nixgl": {
       "inputs": {
         "flake-utils": "flake-utils",
@@ -98,6 +44,7 @@
       },
       "locked": {
         "lastModified": 1762090880,
+        "narHash": "sha256-fbRQzIGPkjZa83MowjbD2ALaJf9y6KMDdJBQMKFeY/8=",
         "owner": "nix-community",
         "repo": "nixGL",
         "rev": "b6105297e6f0cd041670c3e8628394d4ee247ed5",
@@ -110,11 +57,15 @@
       }
     },
     "nixpkgs": {
+      "inputs": {
+        "nixpkgs-src": "nixpkgs-src"
+      },
       "locked": {
-        "lastModified": 1767052823,
+        "lastModified": 1773704619,
+        "narHash": "sha256-LKtmit8Sr81z8+N2vpIaN/fyiQJ8f7XJ6tMSKyDVQ9s=",
         "owner": "cachix",
         "repo": "devenv-nixpkgs",
-        "rev": "538a5124359f0b3d466e1160378c87887e3b51a4",
+        "rev": "906534d75b0e2fe74a719559dfb1ad3563485f43",
         "type": "github"
       },
       "original": {
@@ -124,20 +75,34 @@
         "type": "github"
       }
     },
+    "nixpkgs-src": {
+      "flake": false,
+      "locked": {
+        "lastModified": 1773597492,
+        "narHash": "sha256-hQ284SkIeNaeyud+LS0WVLX+WL2rxcVZLFEaK0e03zg=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "a07d4ce6bee67d7c838a8a5796e75dff9caa21ef",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "ref": "nixpkgs-unstable",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
     "root": {
       "inputs": {
         "devenv": "devenv",
-        "git-hooks": "git-hooks",
         "nixgl": "nixgl",
-        "nixpkgs": "nixpkgs",
+        "nixpkgs": "nixpkgs"
-        "pre-commit-hooks": [
-          "git-hooks"
-        ]
       }
     },
     "systems": {
       "locked": {
         "lastModified": 1681028828,
+        "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
         "owner": "nix-systems",
         "repo": "default",
         "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
@@ -152,4 +117,4 @@
   },
   "root": "root",
   "version": 7
-}
+}

devenv.nix

@@ -15,47 +15,18 @@
       nvidiaVersion = "580.126.09";
     };
 in {
-  # https://devenv.sh/basics/
-  # env.GREET = "devenv";
-
-  # https://devenv.sh/packages/
   packages = [
-    pkgs-nixgl.auto.nixGLNvidia
   ];
 
-  # https://devenv.sh/languages/
-  # languages.rust.enable = true;
-
-  # https://devenv.sh/processes/
-  # processes.dev.exec = "${lib.getExe pkgs.watchexec} -n -- ls -la";
-
-  # https://devenv.sh/services/
-  # services.postgres.enable = true;
-
-  # https://devenv.sh/scripts/
-  # scripts.hello.exec = ''
-  #   echo hello from $GREET
-  # '';
-
-  # https://devenv.sh/basics/
   enterShell = ''
-    source ./.venv/bin/activate
+    export UV_PROJECT_ENVIRONMENT=$HOME/.local/share/mamba/envs/mini-nav/
+
+    eval "$(micromamba shell hook --shell bash)"
+    micromamba activate mini-nav
+
+    which uv
+    which python
   '';
 
-  # https://devenv.sh/tasks/
-  # tasks = {
-  #   "myproj:setup".exec = "mytool build";
-  #   "devenv:enterShell".after = [ "myproj:setup" ];
-  # };
-
-  # https://devenv.sh/tests/
-  # enterTest = ''
-  #   echo "Running tests"
-  #   git --version | grep --color=auto "${pkgs.git.version}"
-  # '';
-
-  # https://devenv.sh/git-hooks/
-  # git-hooks.hooks.shellcheck.enable = true;
-
   # See full reference at https://devenv.sh/reference/options/
 }

environment.yml

@@ -0,0 +1,18 @@
+name: mini-nav
+channels:
+    - pytorch
+    - nvidia
+    - aihabitat-nightly
+    - conda-forge
+dependencies:
+    - python=3.10
+    - pip
+    - habitat-sim=0.3.3
+    - withbullet
+    - pytorch
+    - torchvision
+    - pytorch-cuda=12.1
+    # Toolsets
+    - uv
+    - just
+    - nodejs

mini-nav/habitat/test.py

@@ -0,0 +1,159 @@
+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()

pyproject.toml

@@ -3,24 +3,23 @@ name = "mini-nav"
 version = "0.1.0"
 description = "Add your description here"
 readme = "README.md"
-requires-python = ">=3.13"
+requires-python = ">=3.10"
 dependencies = [
-    "accelerate>=1.12.0",
+    "altair>=6.0.0",
     "dash>=3.4.0",
     "dash-ag-grid>=33.3.3",
     "dash-mantine-components>=2.5.1",
     "datasets>=4.5.0",
     "habitat-baselines>=0.3.320250127",
     "habitat-lab>=0.3.320250127",
-    "habitat-sim-uv-wheels-experimental>=0.2.2a2",
     "httpx[socks]>=0.28.1",
     "lancedb>=0.27.1",
+    "marimo>=0.21.1",
+    "matplotlib>=3.10.8",
     "polars[database,numpy,pandas,pydantic]>=1.37.1",
     "pyarrow>=23.0.0",
     "pydantic>=2.12.5",
     "scikit-learn>=1.7.2",
-    "torch>=2.10.0",
-    "torchvision>=0.25.0",
     "transformers>=5.0.0",
     "typer>=0.24.1",
 ]
@@ -28,21 +27,13 @@ dependencies = [
 [dependency-groups]
 dev = [
     "basedpyright>=1.37.4",
+    "pip>=26.0.1",
     "pytest>=9.0.2",
     "pytest-mpi>=0.6",
-]
+    "python-lsp-server>=1.14.0",
-
+    "ruff>=0.15.7",
-[[tool.uv.index]]
+    "ty>=0.0.24",
-name = "pytorch-cu130"
+    "websockets>=16.0",
-url = "https://download.pytorch.org/whl/cu130"
-explicit = true
-
-[tool.uv.sources]
-torch = [
-    { index = "pytorch-cu130", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
-]
-torchvision = [
-    { index = "pytorch-cu130", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
 ]
 
 [tool.ty.environment]