[v0.2.3] Hab2 fixup : merging main and resolving conflicts

.circleci/config.yml

@@ -22,7 +22,7 @@ jobs:
           command: |
               pip install black --progress-bar off
               pip install "isort[pyproject]" numpy --progress-bar off
-              pip install mypy==0.950 --progress-bar off
+              pip install mypy==0.991 types-mock types-Pillow types-tqdm types-PyYAML --progress-bar off
               pip install -r habitat-lab/requirements.txt --progress-bar off
       - run:
           name: run black
@@ -39,10 +39,7 @@ jobs:
           name: run mypy
           command: |
               mypy --version
-              mypy habitat-lab/
-              mypy habitat-baselines/
-              mypy examples/
-              mypy test/
+              mypy --exclude="^docs/|setup.py$"
       - run:
           name: run assert no files in habitat and habitat_baselines
           command: |

.pre-commit-config.yaml

@@ -69,20 +69,20 @@ repos:
         - flake8-simplify==0.18.2
 
 -   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v0.950
+    rev: v0.991
     hooks:
     -   id: mypy
-        name: mypy-habitat-lab
-        files: habitat-lab
+        # https://github.com/python/mypy/issues/4008
+        exclude: "^docs/|setup.py$"
         additional_dependencies:
          - attrs>=19.1.0
-         - numpy
-    -   id: mypy
-        name: mypy-habitat-baselines
-        files: habitat-baselines
-        additional_dependencies:
-         - attrs>=19.1.0
-         - numpy
+         - hydra-core>=1.2.0
+         - numpy>=1.20.0
+         - omegaconf>=2.2.3
+         - types-mock
+         - types-Pillow
+         - types-tqdm
+         - types-PyYAML
 
 -   repo: https://github.com/kynan/nbstripout
     rev: 0.5.0

DATASETS.md

@@ -14,20 +14,20 @@ These datasets can be downloaded follow the instructions [here](https://github.c
 
 ### Task datasets
 
-| Task | Scenes | Link | Extract path | Config to use | Archive size |
-| --- | --- | --- | --- | --- | --- |
-| 🆕[Rearrange Pick](https://arxiv.org/abs/2106.14405) | ReplicaCAD | [rearrange_pick_replica_cad_v0.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/rearrange_pick/replica_cad/v0/rearrange_pick_replica_cad_v0.zip) | `data/datasets/rearrange_pick/replica_cad/v0/` |  [`datasets/rearrangepick/replica_cad.yaml`](habitat/config/habitat/dataset/rearrangement/replica_cad.yaml) | 11 MB |
-| [Point goal navigation](https://arxiv.org/abs/1807.06757) | Gibson | [pointnav_gibson_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_v1.zip) | `data/datasets/pointnav/gibson/v1/` |  [`datasets/pointnav/gibson.yaml`](habitat/config/habitat/dataset/pointnav/gibson.yaml) | 385 MB |
-| 🆕[Point goal navigation](https://arxiv.org/abs/1807.06757) | Gibson 0+ (train) | [pointnav_gibson_0_plus_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_0_plus_v1.zip) | `data/datasets/pointnav/gibson/v1/` |  [`datasets/pointnav/gibson_0_plus.yaml`](habitat/config/habitat/dataset/pointnav/gibson_0_plus.yaml) | 321 MB |
-| [Point goal navigation corresponding to Sim2LoCoBot experiment configuration](https://arxiv.org/abs/1912.06321) | Gibson | [pointnav_gibson_v2.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v2/pointnav_gibson_v2.zip) | `data/datasets/pointnav/gibson/v2/` |  [`datasets/pointnav/gibson_v2.yaml`](habitat/config/habitat/dataset/pointnav/gibson_v2.yaml) | 274 MB |
-| [Point goal navigation](https://arxiv.org/abs/1807.06757) | MatterPort3D | [pointnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/mp3d/v1/pointnav_mp3d_v1.zip) | `data/datasets/pointnav/mp3d/v1/` | [`datasets/pointnav/mp3d.yaml`](habitat/config/habitat/dataset/pointnav/mp3d.yaml) | 400 MB |
-| 🆕[Point goal navigation](https://arxiv.org/abs/1807.06757) | HM3D | [pointnav_hm3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/hm3d/v1/pointnav_hm3d_v1.zip) | `data/datasets/pointnav/hm3d/v1/` |  [`datasets/pointnav/hm3d.yaml`](habitat/config/habitat/dataset/pointnav/hm3d.yaml) | 992 MB |
-| [Object goal navigation](https://arxiv.org/abs/2006.13171) | MatterPort3D | [objectnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/objectnav/m3d/v1/objectnav_mp3d_v1.zip) | `data/datasets/objectnav/mp3d/v1/` | [`datasets/objectnav/mp3d.yaml`](habitat/config/habitat/dataset/objectnav/mp3d.yaml) | 170 MB |
-| 🆕[Object goal navigation](https://arxiv.org/abs/2006.13171) | HM3D | [objectnav_hm3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/objectnav/hm3d/v1/objectnav_hm3d_v1.zip) | `data/datasets/objectnav/hm3d/v1/` |  [`datasets/objectnav/hm3d.yaml`](habitat/config/habitat/dataset/objetnav/hm3d.yaml) | 154 MB |
-| [Embodied Question Answering](https://embodiedqa.org/) | MatterPort3D | [eqa_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/eqa/mp3d/v1/eqa_mp3d_v1.zip) | `data/datasets/eqa/mp3d/v1/` | [`datasets/eqa/mp3d.yaml`](habitat/config/habitat/dataset/eqa/mp3d.yaml) | 44 MB |
-| [Visual Language Navigation](https://bringmeaspoon.org/) | MatterPort3D | [vln_r2r_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/vln/mp3d/r2r/v1/vln_r2r_mp3d_v1.zip) | `data/datasets/vln/mp3d/r2r/v1` | [`datasets/vln/mp3d_r2r.yaml`](habitat/config/habitat/dataset/vln/mp3d_r2r.yaml) | 2.7 MB |
-| 🆕[Instance image goal navigation](https://github.com/facebookresearch/habitat-lab/pull/936) | HM3D | [instance_imagenav_hm3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/imagenav/hm3d/v1/instance_imagenav_hm3d_v1.zip) | `data/datasets/instance_imagenav/hm3d/v1/` |  [`datasets/instance_imagenav/hm3d.yaml`](habitat/config/habitat/dataset/instance_imagenav/hm3d.yaml) | 303 MB |
-| [Image goal navigation](https://github.com/facebookresearch/habitat-lab/pull/333) | Gibson | [pointnav_gibson_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_v1.zip) | `data/datasets/pointnav/gibson/v1/` |  [`datasets/imagenav/gibson.yaml`](habitat/config/habitat/dataset/imagenav/gibson.yaml) | 385 MB |
-| [Image goal navigation](https://github.com/facebookresearch/habitat-lab/pull/333) | MatterPort3D | [pointnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/mp3d/v1/pointnav_mp3d_v1.zip) | `data/datasets/pointnav/mp3d/v1/` | [`datasets/imagenav/mp3d.yaml`](habitat/config/habitat/dataset/imagenav/mp3d.yaml) | 400 MB |
+| Task | Scenes | Link | Extract path | Config to use                                                                                                          | Archive size |
+| --- | --- | --- | --- |------------------------------------------------------------------------------------------------------------------------| --- |
+| 🆕[Rearrange Pick](https://arxiv.org/abs/2106.14405) | ReplicaCAD | [rearrange_pick_replica_cad_v0.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/rearrange_pick/replica_cad/v0/rearrange_pick_replica_cad_v0.zip) | `data/datasets/rearrange_pick/replica_cad/v0/` | [`datasets/rearrangepick/replica_cad.yaml`](habitat-lab/habitat/config/habitat/dataset/rearrangement/replica_cad.yaml) | 11 MB |
+| [Point goal navigation](https://arxiv.org/abs/1807.06757) | Gibson | [pointnav_gibson_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_v1.zip) | `data/datasets/pointnav/gibson/v1/` | [`datasets/pointnav/gibson.yaml`](habitat-lab/habitat/config/habitat/dataset/pointnav/gibson.yaml)                                 | 385 MB |
+| 🆕[Point goal navigation](https://arxiv.org/abs/1807.06757) | Gibson 0+ (train) | [pointnav_gibson_0_plus_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_0_plus_v1.zip) | `data/datasets/pointnav/gibson/v1/` | [`datasets/pointnav/gibson_0_plus.yaml`](habitat-lab/habitat/config/habitat/dataset/pointnav/gibson_0_plus.yaml)                   | 321 MB |
+| [Point goal navigation corresponding to Sim2LoCoBot experiment configuration](https://arxiv.org/abs/1912.06321) | Gibson | [pointnav_gibson_v2.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v2/pointnav_gibson_v2.zip) | `data/datasets/pointnav/gibson/v2/` | [`datasets/pointnav/gibson_v2.yaml`](habitat-lab/habitat/config/habitat/dataset/pointnav/gibson_v2.yaml)                           | 274 MB |
+| [Point goal navigation](https://arxiv.org/abs/1807.06757) | MatterPort3D | [pointnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/mp3d/v1/pointnav_mp3d_v1.zip) | `data/datasets/pointnav/mp3d/v1/` | [`datasets/pointnav/mp3d.yaml`](habitat-lab/habitat/config/habitat/dataset/pointnav/mp3d.yaml)                                     | 400 MB |
+| 🆕[Point goal navigation](https://arxiv.org/abs/1807.06757) | HM3D | [pointnav_hm3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/hm3d/v1/pointnav_hm3d_v1.zip) | `data/datasets/pointnav/hm3d/v1/` | [`datasets/pointnav/hm3d.yaml`](habitat-lab/habitat/config/habitat/dataset/pointnav/hm3d.yaml)                                     | 992 MB |
+| [Object goal navigation](https://arxiv.org/abs/2006.13171) | MatterPort3D | [objectnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/objectnav/m3d/v1/objectnav_mp3d_v1.zip) | `data/datasets/objectnav/mp3d/v1/` | [`datasets/objectnav/mp3d.yaml`](habitat-lab/habitat/config/habitat/dataset/objectnav/mp3d.yaml)                                   | 170 MB |
+| 🆕[Object goal navigation](https://arxiv.org/abs/2006.13171) | HM3D | [objectnav_hm3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/objectnav/hm3d/v1/objectnav_hm3d_v1.zip) | `data/datasets/objectnav/hm3d/v1/` | [`datasets/objectnav/hm3d.yaml`](habitat-lab/habitat/config/habitat/dataset/objectnav/hm3d.yaml)                                    | 154 MB |
+| [Embodied Question Answering](https://embodiedqa.org/) | MatterPort3D | [eqa_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/eqa/mp3d/v1/eqa_mp3d_v1.zip) | `data/datasets/eqa/mp3d/v1/` | [`datasets/eqa/mp3d.yaml`](habitat-lab/habitat/config/habitat/dataset/eqa/mp3d.yaml)                                               | 44 MB |
+| [Visual Language Navigation](https://bringmeaspoon.org/) | MatterPort3D | [vln_r2r_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/vln/mp3d/r2r/v1/vln_r2r_mp3d_v1.zip) | `data/datasets/vln/mp3d/r2r/v1` | [`datasets/vln/mp3d_r2r.yaml`](habitat-lab/habitat/config/habitat/dataset/vln/mp3d_r2r.yaml)                                       | 2.7 MB |
+| 🆕[Instance image goal navigation](https://github.com/facebookresearch/habitat-lab/pull/936) | HM3D | [instance_imagenav_hm3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/imagenav/hm3d/v1/instance_imagenav_hm3d_v1.zip) | `data/datasets/instance_imagenav/hm3d/v1/` | [`datasets/instance_imagenav/hm3d.yaml`](habitat-lab/habitat/config/habitat/dataset/instance_imagenav/hm3d.yaml)                   | 303 MB |
+| [Image goal navigation](https://github.com/facebookresearch/habitat-lab/pull/333) | Gibson | [pointnav_gibson_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_v1.zip) | `data/datasets/pointnav/gibson/v1/` | [`datasets/imagenav/gibson.yaml`](habitat-lab/habitat/config/habitat/dataset/imagenav/gibson.yaml)                                 | 385 MB |
+| [Image goal navigation](https://github.com/facebookresearch/habitat-lab/pull/333) | MatterPort3D | [pointnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/mp3d/v1/pointnav_mp3d_v1.zip) | `data/datasets/pointnav/mp3d/v1/` | [`datasets/imagenav/mp3d.yaml`](habitat-lab/habitat/config/habitat/dataset/imagenav/mp3d.yaml)                                     | 400 MB |
 
-To use an episode dataset, provide the related config to the Env in [the example](#example) or use the config for [RL agent training](habitat_baselines/README.md#reinforcement-learning-rl).
+To use an episode dataset, provide the related config to the Env in [the example](examples/example.py) or use the config for [RL agent training](habitat-baselines/habitat_baselines/README.md#reinforcement-learning-rl).

MANIFEST.in

@@ -1,3 +1,3 @@
 graft habitat/utils/visualizations/assets
-include habitat/py.typed
-include habitat_baselines/py.typed
+include habitat-lab/habitat/py.typed
+include habitat-baselines/habitat_baselines/py.typed

README.md

@@ -129,10 +129,7 @@ If you use the Habitat platform in your research, please cite the [Habitat 1.0](
     import habitat
 
     # Load embodied AI task (RearrangePick) and a pre-specified virtual robot
-    env = habitat.Env(
-        config=habitat.get_config("habitat-lab/habitat/config/benchmark/rearrange/pick.yaml")
-      )
-
+    env = habitat.Env(config=habitat.get_config("benchmark/rearrange/pick.yaml"))
     observations = env.reset()
 
     # Step through environment with random actions
@@ -190,7 +187,7 @@ We provide docker containers for Habitat, updated approximately once per year fo
 [Common task and episode datasets used with Habitat-Lab](DATASETS.md).
 
 ## Baselines
-Habitat-Lab includes reinforcement learning (via PPO) and classical SLAM based baselines. For running PPO training on sample data and more details refer [habitat_baselines/README.md](habitat_baselines/README.md).
+Habitat-Lab includes reinforcement learning (via PPO) and classical SLAM based baselines. For running PPO training on sample data and more details refer [habitat_baselines/README.md](habitat-baselines/habitat_baselines/README.md).
 
 ## ROS-X-Habitat
 ROS-X-Habitat (https://github.com/ericchen321/ros_x_habitat) is a framework that bridges the AI Habitat platform (Habitat Lab + Habitat Sim) with other robotics resources via ROS. Compared with Habitat-PyRobot, ROS-X-Habitat places emphasis on 1) leveraging Habitat Sim v2's physics-based simulation capability and 2) allowing roboticists to access simulation assets from ROS. The work has also been made public as a [paper](https://arxiv.org/abs/2109.07703).
@@ -199,7 +196,7 @@ Note that ROS-X-Habitat was developed, and is maintained by the Lab for Computat
 
 
 ## License
-Habitat-Lab is MIT licensed. See the [LICENSE file](habitat_baselines/LICENSE) for details.
+Habitat-Lab is MIT licensed. See the [LICENSE file](/LICENSE) for details.
 
 The trained models and the task datasets are considered data derived from the correspondent scene datasets.
 

docs/conf.py

@@ -32,8 +32,8 @@
     "registry",
     "vector_env",
 ]
-# yacs.config isn't ours, so don't document it
-habitat.config.__all__.remove("Config")
+# Hydra's DictConfig isn't ours, so don't document it
+habitat.config.__all__.remove("DictConfig")
 
 PROJECT_TITLE = "Habitat"
 PROJECT_SUBTITLE = "Lab Docs"

docs/pages/habitat-lab-demo.rst

@@ -6,18 +6,15 @@ Habitat Lab Demo
 
 .. code:: py
 
-    import habitat
-
-    import numpy as np
     import random
-    from omegaconf import read_write
-
-    %matplotlib inline
     import matplotlib.pyplot as plt
 
+    import habitat
+    from habitat.config import read_write
+
 All the boilerplate code in the habitat-sim to set sensor config and agent
-config is abstracted out in the Habitat Lab config system. Default config is at
-:gh:`habitat-lab/habitat/config/default.py <facebookresearch/habitat-lab/blob/main/habitat-lab/habitat/config/default.py>`.
+config is abstracted out in the Habitat Lab config system. Default habitat structured configs are at
+:gh:`habitat-lab/habitat/config/default_structured_configs.py <facebookresearch/habitat-lab/blob/main/habitat-lab/habitat/config/default_structured_configs.py>`.
 You can override defaults by specifying them in a separate file and pass it to
 the :ref:`habitat.config.get_config()` function or use `read_write` to edit
 the config object.
@@ -26,10 +23,9 @@ the config object.
 
     .. code:: py
 
-        config = habitat.get_config(config_paths='../habitat-lab/habitat/config/tasks/pointnav_mp3d.yaml')
+        config = habitat.get_config(config_paths="benchmark/nav/pointnav/pointnav_mp3d.yaml")
         with read_write(config):
-            config.habitat.dataset.data_path = '../data/datasets/pointnav/mp3d/v1/val/val.json.gz'
-            config.habitat.dataset.scenes_dir = '../data/scene_datasets/'
+            config.habitat.dataset.split = "val"
 
         env = habitat.Env(config=config)
 
@@ -106,6 +102,8 @@ the config object.
     import numpy as np
     from PIL import Image
     from habitat_sim.utils.common import d3_40_colors_rgb
+    from habitat.config.default import get_agent_config
+    from habitat.config.default_structured_configs import HabitatSimSemanticSensorConfig
 
     def display_sample(rgb_obs, semantic_obs, depth_obs):
         rgb_img = Image.fromarray(rgb_obs, mode="RGB")
@@ -128,13 +126,13 @@ the config object.
             plt.imshow(data)
         plt.show()
 
-    config = habitat.get_config(config_paths='../habitat-lab/habitat/config/tasks/pointnav_mp3d.yaml')
+    config = habitat.get_config(config_paths="benchmark/nav/pointnav/pointnav_mp3d.yaml")
     with read_write(config):
-        config.habitat.dataset.data_path = '../data/datasets/pointnav/mp3d/v1/val/val.json.gz'
-        config.habitat.dataset.scenes_dir = '../data/scene_datasets/'
-        config.habitat.simulator.agent_0.sensors = ['rgb_sensor', 'depth_sensor', 'semantic_sensor']
-        config.habitat.simulator.semantic_sensor.width = 256
-        config.habitat.simulator.semantic_sensor.height = 256
+        config.habitat.dataset.split = "val"
+        agent_config = get_agent_config(sim_config=config.habitat.simulator)
+        agent_config.sim_sensors.update(
+            {"semantic_sensor": HabitatSimSemanticSensorConfig(height=256, width=256)}
+        )
         config.habitat.simulator.turn_angle = 30
 
     env = habitat.Env(config=config)

docs/pages/quickstart.rst

@@ -63,7 +63,7 @@ you can install using: :sh:`pip install opencv-python`.
 
     def example():
         env = habitat.Env(
-            config=habitat.get_config("habitat-lab/habitat/config/tasks/pointnav.yaml")
+            config=habitat.get_config("benchmark/nav/pointnav/pointnav_habitat_test.yaml")
         )
 
         print("Environment creation successful")