[Fix] CI Pipeline and Code Style Improvements

.github/ISSUE_TEMPLATE/1-bug.yml

@@ -0,0 +1,96 @@
+name: "🐛 Bug report"
+description: Report errors or unexpected behavior
+title: "[Bug]: "
+labels: ["type/bug", "triage-needed"]
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thanks for taking the time to fill out this bug report, please make sure to [search for existing issues](https://github.com/InternRobotics/InternUtopia/issues) before filing a new one!
+
+  - type: textarea
+    id: bug-description
+    attributes:
+      label: Bug Description
+      placeholder: |
+        A clear and concise description of what the bug is.
+        Try to isolate the issue to help the community to reproduce it easily and increase chances for a fast fix.
+    validations:
+      required: true
+
+  - type: textarea
+    id: steps-to-reproduce
+    attributes:
+      label: Steps to Reproduce
+      placeholder: |
+        Please try to provide a minimal example to reproduce the bug. Error messages and stack traces are also helpful.
+
+        <!-- Please post terminal logs, minimal example to reproduce, or command to run under three backticks (```) to allow code formatting.
+
+        ```
+        Paste your error here
+        ```
+
+        For more information on this, check: https://www.markdownguide.org/extended-syntax/#fenced-code-blocks
+
+        -->
+      value: |
+        Please try to provide a minimal example to reproduce the bug. Error messages and stack traces are also helpful.
+
+        <!-- Please post terminal logs, minimal example to reproduce, or command to run under three backticks (```) to allow code formatting.
+
+        ```
+        Paste your error here
+        ```
+
+        For more information on this, check: https://www.markdownguide.org/extended-syntax/#fenced-code-blocks
+
+        -->
+    validations:
+      required: true
+
+  - type: textarea
+    id: expected-behavior
+    attributes:
+      label: Expected Behavior
+      placeholder: "A clear and concise description of what you expected to happen."
+    validations:
+      required: true
+
+  - type: textarea
+    id: screenshots-videos
+    attributes:
+      label: Screenshots/Videos
+      placeholder: "If applicable, add screenshots and/or a video to help explain your problem."
+
+  - type: textarea
+    id: desktop-device
+    attributes:
+      label: Environment
+      placeholder: |
+        - OS: [e.g. Ubuntu 22.04]
+        - GPU/CPU [e.g. A100, RTX 4090, i9-14900K]
+        - GPU-driver version
+      value: |
+        - OS: [e.g. Ubuntu 22.04]
+        - GPU/CPU [e.g. A100, RTX 4090, i9-14900K]
+        - GPU-driver version
+    validations:
+      required: true
+
+  - type: textarea
+    id: version
+    attributes:
+      label: Release version or Commit ID
+      placeholder: |
+        Please provide:
+         - a) **version number** of the release causing the issue, OR
+         - b) **SHA/hash** of the latest commit if working from git. You can get this by running the `git rev-parse HEAD` command on your current branch.
+    validations:
+      required: true
+
+  - type: textarea
+    id: additional-context
+    attributes:
+      label: Additional Context
+      placeholder: "Add any other context about the problem here."

.github/ISSUE_TEMPLATE/2-enhancement.yml

@@ -0,0 +1,39 @@
+name: "🚀 Enhancement"
+description: Suggest a new feature request or improvement on the project
+title: '[Enhancement]: '
+labels:
+  - type/enhancement
+  - triage-needed
+
+body:
+  - type: markdown
+    attributes:
+      value: |
+        A clear and concise description of what new feature or behavior you would like to see. If applicable, please describe the current behavior as well.
+
+  - type: textarea
+    id: suggestion
+    attributes:
+      label: What feature or enhancement are you proposing?
+    validations:
+      required: true
+
+  - type: textarea
+    id: motivation
+    attributes:
+      label: Motivation
+      description: What is your motivation for adding / enhancing this feature, optimally described in the form of a concrete user story or use case.
+      value: |
+        <!--  Please outline the motivation for the proposal. Summarize the core use cases and user problems and needs you are trying to solve.
+
+        Is your feature request related to a problem? e.g.,"I'm always frustrated when [...]".
+
+        If this is related to another GitHub issue, please link here too. -->
+    validations:
+      required: false
+
+  - type: textarea
+    id: additionalinfo
+    attributes:
+      label: Additional information
+      description: If you think that any additional information would be useful please provide them here.

.github/ISSUE_TEMPLATE/3-question.yml

@@ -0,0 +1,16 @@
+name: "🙏 Question"
+description: Ask a question
+title: "[Question]: "
+labels: ["type/question", "triage-needed"]
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Please make sure to [search for existing issues](https://github.com/InternRobotics/InternUtopia/issues) before filing a new one!
+
+  - type: textarea
+    attributes:
+      label: Question
+      description: Describe your question in detail.
+    validations:
+      required: true

.github/workflows/ci.yml

@@ -0,0 +1,69 @@
+name: PR CI
+
+on:
+  pull_request:
+    types: [opened, synchronize, reopened, ready_for_review]
+    branches: [ main, master, develop ]
+    paths-ignore:
+      - '**.md'
+      - 'docs/**'
+
+concurrency:
+  group: pr-${{ github.event.pull_request.number }}-${{ github.workflow }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read
+
+jobs:
+  test:
+    runs-on: self-hosted
+    if: ${{ github.event.pull_request.draft == false }} # no test on draft
+
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ['3.10']
+        os: [linux]
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: recursive
+
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Run pre-commit on diff only
+        if: ${{ github.event_name == 'pull_request' }}
+        shell: bash -l {0}
+        run: |
+          export PATH=/root/miniconda3/bin:$PATH
+          source /root/miniconda3/etc/profile.d/conda.sh
+          conda activate internutopia
+
+          git fetch origin ${{ github.base_ref }}
+          pre-commit run --from-ref origin/${{ github.base_ref }} --to-ref HEAD
+
+      - name: Run tests
+        shell: bash -l {0}
+        run: |
+          # conda
+          export PATH=/root/miniconda3/bin:$PATH
+          source /root/miniconda3/etc/profile.d/conda.sh
+          conda activate internutopia
+
+          # link data
+          mkdir data
+          ln -s /cpfs/user/wangyukai/mp3d_data/vln_pe data/vln_pe
+          ln -s /cpfs/user/wangyukai/mp3d_data/Embodiments data/Embodiments
+          ln -s /cpfs/user/wangyukai/mp3d_data/scene_data data/scene_data
+          ln -s /cpfs/user/wangyukai/checkpoints checkpoints
+
+          # run tests
+          /root/miniconda3/envs/internutopia/bin/python -c "import torch,sys;print(sys.executable);print('cuda:',torch.cuda.is_available())"
+          /root/miniconda3/envs/internutopia/bin/python -m pytest -q -W ignore --timeout=900 --timeout-method=signal

.gitignore

@@ -148,4 +148,5 @@ logs/
 *.png
 *.ckpt
 /results/
-checkpoints
+checkpoints
+internnav/model/basemodel/LongCLIP/

.gitmodules

@@ -5,3 +5,5 @@
 [submodule "internnav/model/basemodel/LongCLIP"]
 	path = internnav/model/basemodel/LongCLIP
 	url = https://github.com/beichenzbc/Long-CLIP
+	commit = 3966af9ae9331666309a22128468b734db4672a7
+	ignore = untracked

.pre-commit-config.yaml

@@ -1,3 +1,6 @@
+exclude: |
+  ^internnav/model/basemodel/LongCLIP/
+
 repos:
   - repo: https://github.com/PyCQA/autoflake
     rev: v2.2.0
@@ -26,69 +29,15 @@ repos:
     rev: v2.2.1
     hooks:
       - id: codespell
-        exclude: |
-            (?x)(
-                ^toolkits/grscenes_scripts/README.md|
-                ^toolkits/indoor_scenes_generation/infinigen/infinigen_examples/constraints
-            )
-  # - repo: https://github.com/gitleaks/gitleaks
-  #   rev: v8.24.0
-  #   hooks:
-  #     - id: gitleaks
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v3.1.0
     hooks:
       - id: trailing-whitespace
       - id: check-yaml
       - id: end-of-file-fixer
-        exclude: '^(.*/lcmtypes/.*)'
       - id: requirements-txt-fixer
-      - id: double-quote-string-fixer
-        exclude: '^(.*/lcmtypes/.*)'
       - id: check-merge-conflict
       - id: fix-encoding-pragma
         args: ["--remove"]
       - id: mixed-line-ending
         args: ["--fix=lf"]
-
-  # - repo: https://github.com/PyCQA/isort
-  #   rev: 5.11.5
-  #   hooks:
-  #     - id: isort
-  # - repo: https://github.com/psf/black
-  #   rev: 22.10.0
-  #   hooks:
-  #     - id: black
-  #       args: [--line-length=79]
-  # - repo: https://github.com/PyCQA/flake8
-  #   rev: 4.0.1
-  #   hooks:
-  #     - id: flake8
-  # - repo: https://github.com/codespell-project/codespell
-  #   rev: v2.2.1
-  #   hooks:
-  #     - id: codespell
-  #       exclude: |
-  #           (?x)(
-  #               ^toolkits/grscenes_scripts/README.md|
-  #               ^toolkits/indoor_scenes_generation/infinigen/infinigen_examples/constraints
-  #           )
-  # - repo: https://github.com/gitleaks/gitleaks
-  #   rev: v8.24.0
-  #   hooks:
-  #     - id: gitleaks
-  # - repo: https://github.com/pre-commit/pre-commit-hooks
-  #   rev: v3.1.0
-  #   hooks:
-  #     - id: trailing-whitespace
-  #     - id: check-yaml
-  #     - id: end-of-file-fixer
-  #       exclude: '^(.*/lcmtypes/.*)'
-  #     - id: requirements-txt-fixer
-  #     - id: double-quote-string-fixer
-  #       exclude: '^(.*/lcmtypes/.*)'
-  #     - id: check-merge-conflict
-  #     - id: fix-encoding-pragma
-  #       args: ["--remove"]
-  #     - id: mixed-line-ending
-  #       args: ["--fix=lf"]

pyproject.toml

@@ -8,3 +8,13 @@ lcmtypes
 [tool.isort]
 profile = "black"
 skip_glob = '**/lcmtypes/**'
+
+[tool.pytest.ini_options]
+testpaths = [
+  "tests"
+]
+addopts = "-ra --color=yes --maxfail=1"
+markers = [
+  "slow: marks tests as slow",
+  "gpu: requires GPU"
+]

requirements/eval.txt

@@ -1,3 +1,3 @@
+ansi2txt==0.2.0
 pydantic>2.0
-requests
-ansi2txt
+requests==2.32.3

requirements/test.txt

@@ -0,0 +1,5 @@
+coverage==7.5.4
+pytest==7.3.1
+pytest-cov==4.1.0
+pytest-timeout==2.4.0
+tomli==2.0.1

tests/conftest.py

@@ -0,0 +1,28 @@
+import pytest
+
+
+@pytest.fixture
+def tmp_cfg(tmp_path):
+    p = tmp_path / "config.yaml"
+    p.write_text("hello: world\n")
+    return p
+
+
+# global hook: skip mark
+def pytest_runtest_setup(item):
+    if "gpu" in item.keywords:
+        try:
+            import torch
+
+            if not torch.cuda.is_available():
+                pytest.skip("No CUDA for gpu-marked test")
+        except Exception:
+            pytest.skip("Torch not available")
+    if "ray" in item.keywords:
+        try:
+            import ray
+
+            ray.init()
+            assert ray.is_initialized()
+        except Exception:
+            pytest.skip("ray not available")