Exposed all existing documentation in Articulated_agents, articulated_agent_controllers, core, and config modules

docs/conf.py

@@ -23,8 +23,20 @@
 
 # Overrides the __all__ as that one pulls everything into the root module
 # and doesn't expose any submodules
-habitat.__all__ = ["config", "core", "Agent", "Benchmark", "gym"]
+habitat.__all__ = [
+    "config",
+    "core",
+    "gym",
+    "articulated_agent_controllers",
+    "articulated_agents",
+    "datasets",
+    "sims",
+    "tasks",
+    "utils"]
+
 habitat.core.__all__ = [
+    "agent",
+    "benchmark",
     "env",
     "embodied_task",
     "dataset",
@@ -33,6 +45,19 @@
     "vector_env",
 ]
 
+habitat.datasets.__all__ = [
+    "eqa",
+    "image_nav",
+    "object_nav",
+    "pointnav",
+    "rearrange",
+    "vln"
+]
+
+
+
+
+
 PROJECT_TITLE = "Habitat"
 PROJECT_SUBTITLE = "Lab Docs"
 PROJECT_LOGO = "../../habitat-sim/docs/habitat.svg"

habitat-lab/habitat/articulated_agent_controllers/__init__.py

@@ -20,4 +20,6 @@
     "HumanoidBaseController",
     "HumanoidRearrangeController",
     "HumanoidSeqPoseController",
+    "Pose",
+    "Motion"
 ]

habitat-lab/habitat/articulated_agent_controllers/humanoid_base_controller.py

@@ -13,12 +13,13 @@
 # where all joints are representated as quaternions. In future PRs we need
 # to abstract this class to support other kinds of joints.
 class Pose:
-    def __init__(self, joints_quat, root_transform):
-        """
+    """
         Contains a single humanoid pose
-            :param joints_quat: list or array of num_joints * 4 elements, with the rotation quaternions
-            :param root_transform: Matrix4 with the root trasnform.
-        """
+        :param joints_quat: list or array of num_joints * 4 elements, with the rotation quaternions
+        :param root_transform: Matrix4 with the root trasnform.
+    """
+    def __init__(self, joints_quat, root_transform):
+
         self.joints = list(joints_quat)
         self.root_transform = root_transform
 
@@ -29,7 +30,7 @@ class Motion:
         :param joints_quat_array: num_poses x num_joints x 4 array, containing the join orientations
         :param transform_array: num_poses x 4 x 4 array, containing the root transform
         :param displacement: on each pose, how much forward displacement was there?
-            Used to measure how many poses we should advance to move a cerain amount
+        Used to measure how many poses we should advance to move a cerain amount
         :param fps: the FPS at which the motion was recorded
     """
 

habitat-lab/habitat/articulated_agents/mobile_manipulator.py

@@ -18,12 +18,9 @@
 @attr.s(auto_attribs=True, slots=True)
 class ArticulatedAgentCameraParams:
     """Data to configure a camera placement on the articulated agent.
-    :property attached_link_id: Which link ID this camera is attached to, -1
-        for the base link.
-    :property cam_offset_pos: The 3D position of the camera relative to the
-        transformation of the attached link.
-    :property cam_look_at_pos: The 3D of where the camera should face relative
-        to the transformation of the attached link.
+    :property attached_link_id: Which link ID this camera is attached to, -1 for the base link.
+    :property cam_offset_pos: The 3D position of the camera relative to the transformation of the attached link.
+    :property cam_look_at_pos: The 3D of where the camera should face relative to the transformation of the attached link.
     :property relative_transform: An added local transform for the camera.
     """
 
@@ -41,32 +38,21 @@ class MobileManipulatorParams:
     :property arm_joints: The joint ids of the arm joints.
     :property gripper_joints: The habitat sim joint ids of any grippers.
     :property wheel_joints: The joint ids of the wheels. If the wheels are not controlled, then this should be None
-    :property arm_init_params: The starting joint angles of the arm. If None,
-        resets to 0.
-    :property gripper_init_params: The starting joint positions of the gripper. If None,
-        resets to 0.
-    :property ee_offset: The 3D offset from the end-effector link to the true
-        end-effector position.
+    :property arm_init_params: The starting joint angles of the arm. If None, resets to 0.
+    :property gripper_init_params: The starting joint positions of the gripper. If None, resets to 0.
+    :property ee_offset: The 3D offset from the end-effector link to the true end-effector position.
     :property ee_links: A list with the Habitat Sim link ID of the end-effector.
-    :property ee_constraint: A (ee_count, 2, N) shaped array specifying the upper and
-        lower limits for each end-effector joint where N is the arm DOF.
-    :property cameras: The cameras and where they should go. The key is the
-        prefix to match in the sensor names. For example, a key of `"head"`
-        will match sensors `"head_rgb"` and `"head_depth"`
-    :property gripper_closed_state: All gripper joints must achieve this
-        state for the gripper to be considered closed.
-    :property gripper_open_state: All gripper joints must achieve this
-        state for the gripper to be considered open.
+    :property ee_constraint: A (ee_count, 2, N) shaped array specifying the upper and lower limits for each end-effector joint where N is the arm DOF.
+    :property cameras: The cameras and where they should go. The key is the prefix to match in the sensor names. For example, a key of `"head"`will match sensors `"head_rgb"` and `"head_depth"`
+    :property gripper_closed_state: All gripper joints must achieve this state for the gripper to be considered closed.
+    :property gripper_open_state: All gripper joints must achieve this state for the gripper to be considered open.
     :property gripper_state_eps: Error margin for detecting whether gripper is closed.
     :property arm_mtr_pos_gain: The position gain of the arm motor.
     :property arm_mtr_vel_gain: The velocity gain of the arm motor.
     :property arm_mtr_max_impulse: The maximum impulse of the arm motor.
-    :property wheel_mtr_pos_gain: The position gain of the wheeled motor (if
-        there are wheels).
-    :property wheel_mtr_vel_gain: The velocity gain of the wheel motor (if
-        there are wheels).
-    :property wheel_mtr_max_impulse: The maximum impulse of the wheel motor (if
-        there are wheels).
+    :property wheel_mtr_pos_gain: The position gain of the wheeled motor (if there are wheels).
+    :property wheel_mtr_vel_gain: The velocity gain of the wheel motor (if there are wheels).
+    :property wheel_mtr_max_impulse: The maximum impulse of the wheel motor (if there are wheels).
     :property base_offset: The offset of the root transform from the center ground point for navmesh kinematic control.
     :property ee_count: how many end effectors
     """

habitat-lab/habitat/articulated_agents/static_manipulator.py

@@ -14,22 +14,17 @@
 
 @attr.s(auto_attribs=True, slots=True)
 class StaticManipulatorParams:
-    """Data to configure a static manipulator.
+    """
+    Data to configure a static manipulator.
     :property arm_joints: The joint ids of the arm joints.
     :property gripper_joints: The habitat sim joint ids of any grippers.
-    :property arm_init_params: The starting joint angles of the arm. If None,
-        resets to 0.
-    :property gripper_init_params: The starting joint positions of the gripper. If None,
-        resets to 0.
-    :property ee_offset: The 3D offset from the end-effector link to the true
-        end-effector position.
+    :property arm_init_params: The starting joint angles of the arm. If None, resets to 0.
+    :property gripper_init_params: The starting joint positions of the gripper. If None, resets to 0.
+    :property ee_offset: The 3D offset from the end-effector link to the true end-effector position.
     :property ee_links: A list with the Habitat Sim link ID of the end-effector.
-    :property ee_constraint: A (ee_count, 2, N) shaped array specifying the upper and
-        lower limits for each end-effector joint where N is the arm DOF.
-    :property gripper_closed_state: All gripper joints must achieve this
-        state for the gripper to be considered closed.
-    :property gripper_open_state: All gripper joints must achieve this
-        state for the gripper to be considered open.
+    :property ee_constraint: A (ee_count, 2, N) shaped array specifying the upper and lower limits for each end-effector joint where N is the arm DOF.
+    :property gripper_closed_state: All gripper joints must achieve this state for the gripper to be considered closed.
+    :property gripper_open_state: All gripper joints must achieve this state for the gripper to be considered open.
     :property gripper_state_eps: Error margin for detecting whether gripper is closed.
     :property arm_mtr_pos_gain: The position gain of the arm motor.
     :property arm_mtr_vel_gain: The velocity gain of the arm motor.

habitat-lab/habitat/config/__init__.py

@@ -8,4 +8,7 @@
 from habitat.config.default import DictConfig, get_config
 from habitat.config.read_write import read_write
 
-__all__ = ["get_config", "read_write", "default_structured_configs"]
+__all__ = [
+    "get_config",
+    "read_write",
+    "default_structured_configs"]

habitat-lab/habitat/gym/__init__.py

@@ -7,4 +7,9 @@
 
 from habitat.gym.gym_definitions import make_gym_from_config
 
-__all__ = ["make_gym_from_config"]
+__all__ = [
+    "make_gym_from_config",
+    "gym_env_episode_count_wrapper",
+    "gym_env_obs_dict_wrapper",
+    "gym_wrapper"
+    ]

habitat-lab/habitat/utils/__init__.py

@@ -4,4 +4,10 @@
 # This source code is licensed under the MIT license found in the
 # LICENSE file in the root directory of this source tree.
 
-__all__ = ["visualizations", "geometry_utils", "common"]
+__all__ = [
+    "visualizations",
+    "geometry_utils",
+    "common",
+    "env_utils",
+    "pickle5_multiprocessing",
+    "profiling_wrapper"]