From 61af1b666bf082000280e407870fd42aa73da6a9 Mon Sep 17 00:00:00 2001
From: Oleksandr <maksymets.o@gmail.com>
Date: Wed, 5 Jun 2019 18:13:19 -0700
Subject: [PATCH] CI setup that runs tests e2e testing using GPU machines (#97)
* Builds and installs habitat-sim with python setup.py install
* Added pytorch installation and running habitat baseline test in prediction mode. That maybe too much of testing, but decided to keep it for now.
* Have ideas how to speed up and parallelize jobs. Will follow up in next PRs.
* Run isort and black on whole code to make it happy.
* Includes parallelization of installation steps and use files as flags that step is finished. CircleCI has no good way to parallelize steps and have dependencies one the same machine.
* Cache is used to save conda dependencies installed and build simulator based on commit SHA.
---
.circleci/config.yml | 174 ++++++++++++++++++
examples/shortest_path_follower_example.py | 3 +-
habitat/core/dataset.py | 8 +-
habitat/core/embodied_task.py | 4 +-
habitat/core/env.py | 5 +-
habitat/core/simulator.py | 3 +-
habitat/core/vector_env.py | 7 +-
habitat/datasets/pointnav/pointnav_dataset.py | 2 +-
.../datasets/pointnav/pointnav_generator.py | 2 +-
habitat/sims/habitat_simulator.py | 19 +-
habitat/tasks/eqa/eqa_task.py | 6 +-
habitat/tasks/nav/nav_task.py | 10 +-
habitat/tasks/nav/shortest_path_follower.py | 6 +-
habitat/utils/geometry_utils.py | 1 -
habitat/utils/visualizations/maps.py | 3 +-
habitat/utils/visualizations/utils.py | 4 +-
habitat_baselines/agents/ppo_agents.py | 6 +-
habitat_baselines/agents/slam_agents.py | 45 ++---
habitat_baselines/config/default.py | 4 +-
habitat_baselines/evaluate_ppo.py | 5 +-
habitat_baselines/rl/ppo/policy.py | 5 +-
habitat_baselines/rl/ppo/ppo.py | 1 -
habitat_baselines/slambased/mappers.py | 1 +
habitat_baselines/slambased/monodepth.py | 20 +-
habitat_baselines/slambased/path_planners.py | 5 +-
habitat_baselines/slambased/reprojection.py | 3 +-
habitat_baselines/slambased/utils.py | 3 +-
habitat_baselines/train_ppo.py | 13 +-
setup.py | 4 +-
test/test_baseline_agents.py | 4 +-
test/test_habitat_example.py | 3 +-
test/test_pointnav_dataset.py | 2 +-
test/test_sensors.py | 9 +-
test/test_trajectory_sim.py | 1 +
34 files changed, 288 insertions(+), 103 deletions(-)
create mode 100644 .circleci/config.yml
diff --git a/.circleci/config.yml b/.circleci/config.yml
new file mode 100644
index 000000000..d99760119
--- /dev/null
+++ b/.circleci/config.yml
@@ -0,0 +1,174 @@
+version: 2
+gpu: &gpu
+ machine:
+ image: ubuntu-1604:201903-01
+ resource_class: gpu.small
+ environment:
+ FPS_THRESHOLD: 900
+
+jobs:
+ python_lint:
+ docker:
+ - image: circleci/python:3.6
+ steps:
+ - checkout
+ - run:
+ name: setup
+ command: |
+ sudo pip install black isort
+ - run:
+ name: run black
+ command: |
+ black . --line-length 79 --check --diff
+ - run:
+ name: run isort
+ command: |
+ isort . -rc --multi-line 3 --trailing-comma --force-grid-wrap 0 --line-width 79 --combine-as
+
+ install_and_test_ubuntu:
+ <<: *gpu
+ steps:
+ - checkout:
+ path: ./habitat-api
+ - run:
+ name: Install cmake
+ no_output_timeout: 5m
+ command: |
+ echo $(git ls-remote https://github.com/facebookresearch/habitat-sim.git HEAD | awk '{ print $1}') > ./hsim_sha
+ wget https://github.com/Kitware/CMake/releases/download/v3.13.4/cmake-3.13.4-Linux-x86_64.sh
+ sudo mkdir /opt/cmake
+ sudo sh ./cmake-3.13.4-Linux-x86_64.sh --prefix=/opt/cmake --skip-license
+ sudo ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake
+ - run:
+ name: Install dependencies
+ no_output_timeout: 20m
+ command: |
+ sudo apt-get update || true
+ sudo apt-get install -y --no-install-recommends \
+ build-essential \
+ git \
+ curl \
+ vim \
+ ca-certificates \
+ libjpeg-dev \
+ libglm-dev \
+ libegl1-mesa-dev \
+ xorg-dev \
+ freeglut3-dev \
+ pkg-config \
+ wget \
+ zip \
+ unzip || true
+ - run:
+ name: Install cuda
+ no_output_timeout: 20m
+ background: true
+ command: |
+ wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1604/x86_64/cuda-repo-ubuntu1604_8.0.44-1_amd64.deb
+ sudo dpkg -i cuda-repo-ubuntu1604_8.0.44-1_amd64.deb
+ sudo apt-get update || true
+ sudo apt-get --yes --force-yes install cuda
+ touch ./cuda_installed
+ nvidia-smi
+ - restore_cache:
+ keys:
+ - conda-{{ checksum "habitat-api/.circleci/config.yml" }}
+ - run:
+ name: Install conda and dependencies
+ no_output_timeout: 20m
+ command: |
+ if [ ! -d ~/miniconda ]
+ then
+ curl -o ~/miniconda.sh -O https://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh
+ chmod +x ~/miniconda.sh
+ ~/miniconda.sh -b -p $HOME/miniconda
+ rm ~/miniconda.sh
+ export PATH=$HOME/miniconda/bin:$PATH
+ conda create -y -n habitat python=3.6
+ . activate habitat
+ conda install -q -y -c conda-forge ninja numpy pytest
+ fi
+ - run:
+ name: Install pytorch
+ no_output_timeout: 20m
+ background: true
+ command: |
+ if [ ! -f ~/miniconda/pytorch_installed ]
+ then
+ export PATH=$HOME/miniconda/bin:$PATH
+ . activate habitat;
+ conda install -c conda-forge opencv -y
+ conda install -y pytorch torchvision cudatoolkit=10.0 -c pytorch
+ fi
+ touch ~/miniconda/pytorch_installed
+ - restore_cache:
+ keys:
+ - habitat-sim-{{ checksum "./hsim_sha" }}
+ - run:
+ name: Build, install habitat-sim and run benchmark
+ no_output_timeout: 20m
+ command: |
+ export PATH=$HOME/miniconda/bin:$PATH
+ . activate habitat;
+ if [ ! -d ./habitat-sim ]
+ then
+ git clone https://github.com/facebookresearch/habitat-sim.git
+ cd habitat-sim
+ python setup.py install --headless
+ else
+ if [ ! -f ~/miniconda/pip_deps_installed ]
+ then
+ cd habitat-sim
+ python setup.py install --headless
+ fi
+ fi
+ - save_cache:
+ key: conda-{{ checksum "habitat-api/.circleci/config.yml" }}
+ background: true
+ paths:
+ - ~/miniconda
+ - run:
+ name: Download test data
+ command: |
+
+ if [ ! -d ./habitat-sim/data ]
+ then
+ cd habitat-sim
+ wget http://dl.fbaipublicfiles.com/habitat/habitat-test-scenes.zip
+ unzip habitat-test-scenes.zip
+ rm habitat-test-scenes.zip
+ fi
+ - run:
+ name: Run sim benchmark
+ command: |
+ while [ ! -f ./cuda_installed ]; do sleep 2; done # wait for CUDA
+ export PATH=$HOME/miniconda/bin:$PATH
+ . activate habitat; cd habitat-sim
+ python examples/example.py --scene data/scene_datasets/habitat-test-scenes/van-gogh-room.glb --silent --test_fps_regression $FPS_THRESHOLD
+ - save_cache:
+ key: habitat-sim-{{ checksum "./hsim_sha" }}
+ paths:
+ - ./habitat-sim
+ - run:
+ name: Run api tests
+ command: |
+ export PATH=$HOME/miniconda/bin:$PATH
+ . activate habitat; cd habitat-api
+ while [ ! -f ~/miniconda/pytorch_installed ]; do sleep 2; done # wait for Pytorch
+ ln -s ../habitat-sim/data data
+ pip install -r requirements.txt --progress-bar off
+ touch ~/miniconda/pip_deps_installed
+ python setup.py test
+ python setup.py develop --all
+ python -u habitat_baselines/train_ppo.py --log-file "train.log" --checkpoint-folder "data/checkpoints" --sim-gpu-id 0 --pth-gpu-id 0 --num-processes 1 --num-mini-batch 1 --num-updates 10
+ - save_cache:
+ key: conda-{{ checksum "habitat-api/.circleci/config.yml" }}
+ paths:
+ - ~/miniconda
+
+workflows:
+ version: 2
+ install_and_test:
+ jobs:
+ - python_lint
+ - install_and_test_ubuntu
\ No newline at end of file
diff --git a/examples/shortest_path_follower_example.py b/examples/shortest_path_follower_example.py
index 2cd170f36..e78cdd363 100644
--- a/examples/shortest_path_follower_example.py
+++ b/examples/shortest_path_follower_example.py
@@ -8,8 +8,9 @@ import os
import shutil
import cv2
-import habitat
import numpy as np
+
+import habitat
from habitat.tasks.nav.shortest_path_follower import ShortestPathFollower
from habitat.utils.visualizations import maps
from habitat.utils.visualizations.utils import images_to_video
diff --git a/habitat/core/dataset.py b/habitat/core/dataset.py
index 200c98afc..e0219bfd7 100644
--- a/habitat/core/dataset.py
+++ b/habitat/core/dataset.py
@@ -4,15 +4,15 @@
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
-import attr
import copy
import json
-from typing import Dict, List, Type, TypeVar, Generic, Optional, Callable
-
-from habitat.core.utils import not_none_validator
+from typing import Callable, Dict, Generic, List, Optional, Type, TypeVar
+import attr
import numpy as np
+from habitat.core.utils import not_none_validator
+
@attr.s(auto_attribs=True, kw_only=True)
class Episode:
diff --git a/habitat/core/embodied_task.py b/habitat/core/embodied_task.py
index aa38576a1..775c1c09b 100644
--- a/habitat/core/embodied_task.py
+++ b/habitat/core/embodied_task.py
@@ -4,11 +4,11 @@
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
-from typing import Any, List, Type, Optional, Dict
from collections import OrderedDict
+from typing import Any, Dict, List, Optional, Type
from habitat.config import Config
-from habitat.core.dataset import Episode, Dataset
+from habitat.core.dataset import Dataset, Episode
from habitat.core.simulator import SensorSuite, Simulator
diff --git a/habitat/core/env.py b/habitat/core/env.py
index cfa3438c2..874e69c25 100644
--- a/habitat/core/env.py
+++ b/habitat/core/env.py
@@ -5,18 +5,19 @@
# LICENSE file in the root directory of this source tree.
import time
-from typing import Dict, Type, List, Any, Optional, Tuple
+from typing import Any, Dict, List, Optional, Tuple, Type
import gym
import numpy as np
from gym.spaces.dict_space import Dict as SpaceDict
+
from habitat.config import Config
from habitat.core.dataset import Dataset, Episode
from habitat.core.embodied_task import EmbodiedTask, Metrics
from habitat.core.simulator import Observations, Simulator
+from habitat.datasets import make_dataset
from habitat.sims import make_sim
from habitat.tasks import make_task
-from habitat.datasets import make_dataset
class Env:
diff --git a/habitat/core/simulator.py b/habitat/core/simulator.py
index fddd6bfdd..69320bcc3 100644
--- a/habitat/core/simulator.py
+++ b/habitat/core/simulator.py
@@ -5,11 +5,12 @@
# LICENSE file in the root directory of this source tree.
from collections import OrderedDict
-from typing import Any, Dict, List, Optional
from enum import Enum
+from typing import Any, Dict, List, Optional
from gym import Space
from gym.spaces.dict_space import Dict as SpaceDict
+
from habitat.config import Config
diff --git a/habitat/core/vector_env.py b/habitat/core/vector_env.py
index 7cccd8cdc..d5fc6d387 100644
--- a/habitat/core/vector_env.py
+++ b/habitat/core/vector_env.py
@@ -8,16 +8,17 @@ import multiprocessing as mp
from multiprocessing.connection import Connection
from queue import Queue
from threading import Thread
-from typing import Iterable, List, Tuple, Callable, Union, Any, Set, Optional
+from typing import Any, Callable, Iterable, List, Optional, Set, Tuple, Union
-import habitat
+import gym
import numpy as np
from gym.spaces.dict_space import Dict as SpaceDict
+
+import habitat
from habitat.config import Config
from habitat.core.env import Env, Observations
from habitat.core.logging import logger
from habitat.core.utils import tile_images
-import gym
STEP_COMMAND = "step"
RESET_COMMAND = "reset"
diff --git a/habitat/datasets/pointnav/pointnav_dataset.py b/habitat/datasets/pointnav/pointnav_dataset.py
index 2795b2ebf..c2ce3cbe2 100644
--- a/habitat/datasets/pointnav/pointnav_dataset.py
+++ b/habitat/datasets/pointnav/pointnav_dataset.py
@@ -12,9 +12,9 @@ from typing import List, Optional
from habitat.config import Config
from habitat.core.dataset import Dataset
from habitat.tasks.nav.nav_task import (
+ NavigationEpisode,
NavigationGoal,
ShortestPathPoint,
- NavigationEpisode,
)
ALL_SCENES_MASK = "*"
diff --git a/habitat/datasets/pointnav/pointnav_generator.py b/habitat/datasets/pointnav/pointnav_generator.py
index 99cb542a2..2fbd79108 100644
--- a/habitat/datasets/pointnav/pointnav_generator.py
+++ b/habitat/datasets/pointnav/pointnav_generator.py
@@ -4,7 +4,7 @@ import numpy as np
from habitat.core.simulator import Simulator
from habitat.datasets.utils import get_action_shortest_path
-from habitat.tasks.nav.nav_task import NavigationGoal, NavigationEpisode
+from habitat.tasks.nav.nav_task import NavigationEpisode, NavigationGoal
"""
A minimum radius of a plane that a point should be part of to be
diff --git a/habitat/sims/habitat_simulator.py b/habitat/sims/habitat_simulator.py
index e60ca5518..8050ca023 100644
--- a/habitat/sims/habitat_simulator.py
+++ b/habitat/sims/habitat_simulator.py
@@ -4,18 +4,23 @@
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
-from typing import List, Any, Optional
from enum import Enum
+from typing import Any, List, Optional
+
+import numpy as np
+from gym import Space, spaces
import habitat
import habitat_sim
-import numpy as np
-from gym import spaces, Space
-from habitat import SensorSuite, Config
+from habitat import Config, SensorSuite
from habitat.core.logging import logger
-from habitat.core.simulator import AgentState, ShortestPathPoint
-from habitat.core.simulator import RGBSensor, DepthSensor, SemanticSensor
-
+from habitat.core.simulator import (
+ AgentState,
+ DepthSensor,
+ RGBSensor,
+ SemanticSensor,
+ ShortestPathPoint,
+)
RGBSENSOR_DIMENSION = 3
diff --git a/habitat/tasks/eqa/eqa_task.py b/habitat/tasks/eqa/eqa_task.py
index 66d67e47e..6898db2a2 100644
--- a/habitat/tasks/eqa/eqa_task.py
+++ b/habitat/tasks/eqa/eqa_task.py
@@ -7,14 +7,14 @@
from typing import Dict, Optional
import attr
-
import numpy as np
from gym import spaces
+
from habitat.core.simulator import (
+ Observations,
Sensor,
- SensorTypes,
SensorSuite,
- Observations,
+ SensorTypes,
)
from habitat.core.utils import not_none_validator
from habitat.tasks.nav.nav_task import NavigationEpisode, NavigationTask
diff --git a/habitat/tasks/nav/nav_task.py b/habitat/tasks/nav/nav_task.py
index c0c03b8d1..c46cf2e8b 100644
--- a/habitat/tasks/nav/nav_task.py
+++ b/habitat/tasks/nav/nav_task.py
@@ -6,20 +6,20 @@
from typing import Any, List, Optional, Type
-import cv2
import attr
+import cv2
import numpy as np
from gym import spaces
import habitat
from habitat.config import Config
-from habitat.core.dataset import Episode, Dataset
+from habitat.core.dataset import Dataset, Episode
from habitat.core.embodied_task import Measurements
from habitat.core.simulator import (
- Simulator,
- ShortestPathPoint,
- SensorTypes,
SensorSuite,
+ SensorTypes,
+ ShortestPathPoint,
+ Simulator,
)
from habitat.core.utils import not_none_validator
from habitat.tasks.utils import cartesian_to_polar, quaternion_rotate_vector
diff --git a/habitat/tasks/nav/shortest_path_follower.py b/habitat/tasks/nav/shortest_path_follower.py
index 12fdb3b1d..7d6da161b 100644
--- a/habitat/tasks/nav/shortest_path_follower.py
+++ b/habitat/tasks/nav/shortest_path_follower.py
@@ -6,17 +6,15 @@
from typing import Union
-import habitat_sim
import numpy as np
-from habitat.sims.habitat_simulator import HabitatSim
-from habitat.sims.habitat_simulator import SimulatorActions
+import habitat_sim
+from habitat.sims.habitat_simulator import HabitatSim, SimulatorActions
from habitat.utils.geometry_utils import (
angle_between_quaternions,
quaternion_from_two_vectors,
)
-
EPSILON = 1e-6
diff --git a/habitat/utils/geometry_utils.py b/habitat/utils/geometry_utils.py
index 7249333bb..ac454f4d9 100644
--- a/habitat/utils/geometry_utils.py
+++ b/habitat/utils/geometry_utils.py
@@ -7,7 +7,6 @@
import numpy as np
import quaternion
-
EPSILON = 1e-8
diff --git a/habitat/utils/visualizations/maps.py b/habitat/utils/visualizations/maps.py
index c44302acd..fbd7eb6fe 100644
--- a/habitat/utils/visualizations/maps.py
+++ b/habitat/utils/visualizations/maps.py
@@ -5,12 +5,13 @@
# LICENSE file in the root directory of this source tree.
import os
-from typing import List, Tuple, Optional
+from typing import List, Optional, Tuple
import cv2
import imageio
import numpy as np
import scipy.ndimage
+
from habitat.core.simulator import Simulator
from habitat.utils.visualizations import utils
diff --git a/habitat/utils/visualizations/utils.py b/habitat/utils/visualizations/utils.py
index 474b980a5..47a21a84c 100644
--- a/habitat/utils/visualizations/utils.py
+++ b/habitat/utils/visualizations/utils.py
@@ -5,10 +5,10 @@
# LICENSE file in the root directory of this source tree.
import os
-from typing import Tuple, Optional, List
+from typing import List, Optional, Tuple
-import numpy as np
import imageio
+import numpy as np
import tqdm
diff --git a/habitat_baselines/agents/ppo_agents.py b/habitat_baselines/agents/ppo_agents.py
index ea0b53773..26f59a944 100644
--- a/habitat_baselines/agents/ppo_agents.py
+++ b/habitat_baselines/agents/ppo_agents.py
@@ -10,13 +10,13 @@ import random
import numpy as np
import torch
-from gym.spaces import Discrete, Dict, Box
+from gym.spaces import Box, Dict, Discrete
import habitat
-from habitat_baselines.rl.ppo import Policy
-from habitat_baselines.rl.ppo.utils import batch_obs
from habitat import Config
from habitat.core.agent import Agent
+from habitat_baselines.rl.ppo import Policy
+from habitat_baselines.rl.ppo.utils import batch_obs
def get_defaut_config():
diff --git a/habitat_baselines/agents/slam_agents.py b/habitat_baselines/agents/slam_agents.py
index c90ecb5f2..b7694e826 100644
--- a/habitat_baselines/agents/slam_agents.py
+++ b/habitat_baselines/agents/slam_agents.py
@@ -1,39 +1,34 @@
import argparse
-import numpy as np
-import torch
+import os
import random
+import sys
import time
-import os
-import PIL
from math import pi
+
+import numpy as np
+import PIL
+import requests
+import torch
import torch.nn.functional as F
-import orbslam2
+
import habitat
-from habitat_baselines.slambased.utils import generate_2dgrid
+import orbslam2
+from habitat.config.default import get_config
+from habitat.sims.habitat_simulator import SimulatorActions
+from habitat_baselines.config.default import get_config as cfg_baseline
+from habitat_baselines.slambased.mappers import DirectDepthMapper
+from habitat_baselines.slambased.monodepth import MonoDepthEstimator
+from habitat_baselines.slambased.path_planners import DifferentiableStarPlanner
from habitat_baselines.slambased.reprojection import (
- homogenize_p,
- get_distance,
- project_tps_into_worldmap,
+ angle_to_pi_2_minus_pi_2 as norm_ang,
get_direction,
+ get_distance,
habitat_goalpos_to_mapgoal_pos,
+ homogenize_p,
planned_path2tps,
- angle_to_pi_2_minus_pi_2,
-)
-from habitat_baselines.slambased.reprojection import (
- angle_to_pi_2_minus_pi_2 as norm_ang,
+ project_tps_into_worldmap,
)
-from habitat.sims.habitat_simulator import SimulatorActions
-from habitat_baselines.slambased.mappers import DirectDepthMapper
-from habitat_baselines.slambased.path_planners import DifferentiableStarPlanner
-
-from habitat_baselines.config.default import get_config as cfg_baseline
-from habitat.config.default import get_config
-
-from habitat_baselines.slambased.monodepth import MonoDepthEstimator
-
-# https://sumit-ghosh.com/articles/python-download-progress-bar/
-import sys
-import requests
+from habitat_baselines.slambased.utils import generate_2dgrid
def download(url, filename):
diff --git a/habitat_baselines/config/default.py b/habitat_baselines/config/default.py
index 39a9cc377..ee9c62d7d 100644
--- a/habitat_baselines/config/default.py
+++ b/habitat_baselines/config/default.py
@@ -4,8 +4,10 @@
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
-import numpy as np
from typing import List, Optional, Union
+
+import numpy as np
+
from habitat import get_config
from habitat.config import Config as CN
diff --git a/habitat_baselines/evaluate_ppo.py b/habitat_baselines/evaluate_ppo.py
index 43f340797..ef496589b 100644
--- a/habitat_baselines/evaluate_ppo.py
+++ b/habitat_baselines/evaluate_ppo.py
@@ -9,12 +9,11 @@ import argparse
import torch
import habitat
-from habitat.config.default import get_config
from config.default import get_config as cfg_baseline
-
-from train_ppo import make_env_fn
+from habitat.config.default import get_config
from rl.ppo import PPO, Policy
from rl.ppo.utils import batch_obs
+from train_ppo import make_env_fn
def main():
diff --git a/habitat_baselines/rl/ppo/policy.py b/habitat_baselines/rl/ppo/policy.py
index 0fa2adca6..5c9e72563 100644
--- a/habitat_baselines/rl/ppo/policy.py
+++ b/habitat_baselines/rl/ppo/policy.py
@@ -4,12 +4,11 @@
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
+import numpy as np
import torch
import torch.nn as nn
-from habitat_baselines.rl.ppo.utils import Flatten, CategoricalNet
-
-import numpy as np
+from habitat_baselines.rl.ppo.utils import CategoricalNet, Flatten
class Policy(nn.Module):
diff --git a/habitat_baselines/rl/ppo/ppo.py b/habitat_baselines/rl/ppo/ppo.py
index 6f46ab225..78f113f89 100644
--- a/habitat_baselines/rl/ppo/ppo.py
+++ b/habitat_baselines/rl/ppo/ppo.py
@@ -8,7 +8,6 @@ import torch
import torch.nn as nn
import torch.optim as optim
-
EPS_PPO = 1e-5
diff --git a/habitat_baselines/slambased/mappers.py b/habitat_baselines/slambased/mappers.py
index 527b37cd9..90b16cd3b 100644
--- a/habitat_baselines/slambased/mappers.py
+++ b/habitat_baselines/slambased/mappers.py
@@ -1,6 +1,7 @@
import numpy as np
import torch
import torch.nn as nn
+
from habitat_baselines.slambased.reprojection import (
get_map_size_in_cells,
project2d_pcl_into_worldmap,
diff --git a/habitat_baselines/slambased/monodepth.py b/habitat_baselines/slambased/monodepth.py
index 38c7269c5..a1f87b793 100644
--- a/habitat_baselines/slambased/monodepth.py
+++ b/habitat_baselines/slambased/monodepth.py
@@ -6,26 +6,26 @@ WACV 2019
"""
+import math
+import os
+import pdb
+
+import numpy as np
import torch
+import torch.nn as nn
+import torch.nn.functional as F
import torch.nn.parallel
+import torch.utils.model_zoo as model_zoo
+from PIL import Image
+from torchvision import transforms, utils
"""
ResNet code gently borrowed from
https://github.com/pytorch/vision/blob/master/torchvision/models/py
"""
-import torch.nn as nn
-import math
-import torch.utils.model_zoo as model_zoo
-import torch.nn.functional as F
-import torch
-import numpy as np
-import pdb
-import os
-from PIL import Image
accimage = None
-from torchvision import transforms, utils
__all__ = [
diff --git a/habitat_baselines/slambased/path_planners.py b/habitat_baselines/slambased/path_planners.py
index eebaebfad..9e15e1574 100644
--- a/habitat_baselines/slambased/path_planners.py
+++ b/habitat_baselines/slambased/path_planners.py
@@ -1,8 +1,9 @@
+import matplotlib.pyplot as plt
import numpy as np
import torch
-import torch.nn.functional as F
import torch.nn as nn
-import matplotlib.pyplot as plt
+import torch.nn.functional as F
+
from habitat_baselines.slambased.utils import generate_2dgrid
diff --git a/habitat_baselines/slambased/reprojection.py b/habitat_baselines/slambased/reprojection.py
index e71074b55..7d79f6d74 100644
--- a/habitat_baselines/slambased/reprojection.py
+++ b/habitat_baselines/slambased/reprojection.py
@@ -1,6 +1,7 @@
+from math import ceil, floor
+
import numpy as np
import torch
-from math import ceil, floor
def p_zx(p):
diff --git a/habitat_baselines/slambased/utils.py b/habitat_baselines/slambased/utils.py
index 8b39671c7..73acc862d 100644
--- a/habitat_baselines/slambased/utils.py
+++ b/habitat_baselines/slambased/utils.py
@@ -1,6 +1,7 @@
+import time
+
import numpy as np
import torch
-import time
from PIL import Image
diff --git a/habitat_baselines/train_ppo.py b/habitat_baselines/train_ppo.py
index b71238263..90ecc0d82 100644
--- a/habitat_baselines/train_ppo.py
+++ b/habitat_baselines/train_ppo.py
@@ -5,20 +5,21 @@
# LICENSE file in the root directory of this source tree.
import os
-from time import time
-from collections import deque
import random
-import numpy as np
+from collections import deque
+from time import time
+import numpy as np
import torch
+
import habitat
+from config.default import get_config as cfg_baseline
from habitat import logger
-from habitat.sims.habitat_simulator import SimulatorActions
from habitat.config.default import get_config as cfg_env
-from config.default import get_config as cfg_baseline
from habitat.datasets.pointnav.pointnav_dataset import PointNavDatasetV1
+from habitat.sims.habitat_simulator import SimulatorActions
from rl.ppo import PPO, Policy, RolloutStorage
-from rl.ppo.utils import update_linear_schedule, ppo_args, batch_obs
+from rl.ppo.utils import batch_obs, ppo_args, update_linear_schedule
class NavRLEnv(habitat.RLEnv):
diff --git a/setup.py b/setup.py
index bec05a1f7..a95bae9b4 100644
--- a/setup.py
+++ b/setup.py
@@ -7,12 +7,14 @@
import glob
import os.path
import sys
+
import setuptools
from setuptools.command.develop import develop as DefaultDevelopCommand
from setuptools.command.install import install as DefaultInstallCommand
sys.path.insert(0, os.path.join(os.path.dirname(__file__), "habitat"))
-from version import VERSION # noqa
+from version import VERSION # isort:skip noqa
+
with open("README.md", encoding="utf8") as f:
readme = f.read()
diff --git a/test/test_baseline_agents.py b/test/test_baseline_agents.py
index fcb6283f0..b69bc8220 100644
--- a/test/test_baseline_agents.py
+++ b/test/test_baseline_agents.py
@@ -4,9 +4,11 @@
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
-import habitat
import os
+
import pytest
+
+import habitat
from habitat_baselines.agents import simple_agents
try:
diff --git a/test/test_habitat_example.py b/test/test_habitat_example.py
index 39131be24..1f95c35f4 100644
--- a/test/test_habitat_example.py
+++ b/test/test_habitat_example.py
@@ -7,10 +7,9 @@
import pytest
import habitat
+from examples import shortest_path_follower_example, visualization_examples
from examples.example import example
from habitat.datasets.pointnav.pointnav_dataset import PointNavDatasetV1
-from examples import visualization_examples
-from examples import shortest_path_follower_example
def test_readme_example():
diff --git a/test/test_pointnav_dataset.py b/test/test_pointnav_dataset.py
index dbc4b9053..1701b981f 100644
--- a/test/test_pointnav_dataset.py
+++ b/test/test_pointnav_dataset.py
@@ -18,8 +18,8 @@ from habitat.core.embodied_task import Episode
from habitat.core.logging import logger
from habitat.datasets import make_dataset
from habitat.datasets.pointnav.pointnav_dataset import (
- PointNavDatasetV1,
DEFAULT_SCENE_PATH_PREFIX,
+ PointNavDatasetV1,
)
from habitat.utils.geometry_utils import quaternion_xyzw_to_wxyz
diff --git a/test/test_sensors.py b/test/test_sensors.py
index 6b6cc3868..771704089 100644
--- a/test/test_sensors.py
+++ b/test/test_sensors.py
@@ -4,19 +4,20 @@
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
-import numpy as np
import os
-import pytest
import random
+import numpy as np
+import pytest
+
import habitat
from habitat.config.default import get_config
+from habitat.sims.habitat_simulator import SimulatorActions
from habitat.tasks.nav.nav_task import (
- NavigationEpisode,
COLLISION_PROXIMITY_TOLERANCE,
+ NavigationEpisode,
NavigationGoal,
)
-from habitat.sims.habitat_simulator import SimulatorActions
NON_STOP_ACTIONS = [
v for v in range(len(SimulatorActions)) if v != SimulatorActions.STOP.value
diff --git a/test/test_trajectory_sim.py b/test/test_trajectory_sim.py
index f3e02f1be..8d2302cba 100644
--- a/test/test_trajectory_sim.py
+++ b/test/test_trajectory_sim.py
@@ -9,6 +9,7 @@ import os
import numpy as np
import pytest
+
from habitat.config.default import get_config
from habitat.sims import make_sim
from habitat.sims.habitat_simulator import SimulatorActions
--
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