refactor: 将子模块转为普通目录，移除外部 git 依赖

- 移除 JEPA/lejepa-identifiability 子模块 gitlink - 移除 research/multiply/MultiPLY 子模块 gitlink - 删除 .gitmodules（不再有外部 URL 依赖） - 两个目录内容作为普通文件纳入主仓库追踪 - 删除各自内部 .git 目录，消除嵌套 git 仓库
2026-06-05 17:14:01 +08:00
parent cb629f18a1
commit c66855adfc
208 changed files with 23296 additions and 9 deletions
@@ -0,0 +1,87 @@
+import os.path
+from pathlib import Path
+
+
+# Dir
+ROOT_DIR = Path(__file__).parent.parent
+DATA_DIR = os.path.join(ROOT_DIR, "data")
+HM3D_DIR = os.path.join(DATA_DIR, "hm3d")
+HM3D_BBOX_DIR = os.path.join(DATA_DIR, "new_hm3d_obj_bbox")
+OBJAVERSE_DIR = os.path.join(DATA_DIR, "objaverse")
+AUDIOSET_DIR = os.path.join(DATA_DIR, "audio_set")
+TASK_TEMPLATE_DIR = os.path.join(DATA_DIR, "task_template")
+SAMPLE_DIR = os.path.join(DATA_DIR, "sampled_data")
+OBJECTFOLDER_DIR = os.path.join(DATA_DIR, "object_folder")
+OBJECTFOLDER_OBJECTS_DIR = os.path.join(DATA_DIR, "ObjectFolder")
+BBOX_WITH_ADDED_OBJECTS_DIR = os.path.join(DATA_DIR, "bbox_with_added_objects")
+BBOX_WITH_ADDED_OBJECTS_DIR2 = os.path.join(DATA_DIR, "bbox_with_added_objects2")
+BBOX_WITH_ADDED_OBJECTFOLDER_DIR = os.path.join(DATA_DIR, "bbox_with_added_objectfolder")
+BBOX_WITH_ADDED_OBJECTFOLDER_DIR2 = os.path.join(DATA_DIR, "bbox_with_added_objectfolder2")
+BBOX_WITH_TEMPERATURE_DIR = os.path.join(DATA_DIR, "bbox_with_temperature")
+BBOX_WITH_TEMPERATURE_DIR2 = os.path.join(DATA_DIR, "bbox_with_temperature2")
+ROOM_BBOX_DIR = os.path.join(DATA_DIR, "room_bboxes_revised_axis")
+THIRD_PARTY_DIR = os.path.join(ROOT_DIR, "third_party")
+AUDIO_EMBEDDING_DIR = os.path.join(ROOT_DIR, "embedding")
+
+# GPT
+OPENAI_KEY = ""
+# OPENAI_PROXY = {"http": "127.0.0.1:7890", "https": "127.0.0.1:7890"}
+OPENAI_PROXY = {}
+
+# Simulator
+RIR_SAMPLING_RATE = 16000
+def sim_conf(scene: str, visual=True, audio=True, physics=False):
+    import quaternion # Remove this will cause invalid pointer error !!!!
+    import habitat_sim
+    backend_cfg = habitat_sim.SimulatorConfiguration()
+    backend_cfg.scene_id = os.path.join(HM3D_DIR, scene, f"{scene.split('-')[1]}.basis.glb")
+    # TODO: change this
+    backend_cfg.scene_dataset_config_file = os.path.join(HM3D_DIR, "hm3d_annotated_train_basis.scene_dataset_config.json")
+    backend_cfg.load_semantic_mesh = True
+    backend_cfg.enable_physics = physics
+
+    sensors = []
+    if visual:
+        camera_resolution = [720, 720] # h = w for scene scan
+        camera_position = [0.0, 1.4, 0.0]
+        _spec = habitat_sim.CameraSensorSpec()
+        _spec.uuid = "rgba"
+        _spec.sensor_type = habitat_sim.SensorType.COLOR
+        _spec.resolution = camera_resolution
+        _spec.position = camera_position
+        _spec.orientation = [0.0, 0.0, 0.0]
+        _spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE
+        sensors.append(_spec)
+
+        _spec = habitat_sim.CameraSensorSpec()
+        _spec.uuid = "depth"
+        _spec.sensor_type = habitat_sim.SensorType.DEPTH # COLOR = 1, DEPTH = 2, SEMANTIC = 4
+        _spec.resolution = camera_resolution
+        _spec.position = camera_position
+        _spec.orientation = [0.0, 0.0, 0.0]
+        _spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE
+        sensors.append(_spec)
+
+        _spec = habitat_sim.CameraSensorSpec()
+        _spec.uuid = "semantic"
+        _spec.sensor_type = habitat_sim.SensorType.SEMANTIC
+        _spec.resolution = camera_resolution
+        _spec.position = camera_position
+        _spec.orientation = [0.0, 0.0, 0.0]
+        _spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE
+        sensors.append(_spec)
+
+    if audio:
+        _spec = habitat_sim.AudioSensorSpec()
+        _spec.uuid = "audio_sensor" # Must use this name or backend simulator will raise error :(
+        _spec.enableMaterials = False
+        _spec.channelLayout.type = habitat_sim.sensor.RLRAudioPropagationChannelLayoutType.Binaural
+        _spec.channelLayout.channelCount = 2
+        _spec.acousticsConfig.sampleRate = RIR_SAMPLING_RATE
+        _spec.acousticsConfig.indirect = True
+        sensors.append(_spec)
+
+    agent_cfg = habitat_sim.agent.AgentConfiguration()
+    agent_cfg.sensor_specifications = sensors
+    cfg = habitat_sim.Configuration(backend_cfg, [agent_cfg])
+    return cfg