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

docs/conf.py

@@ -23,16 +23,53 @@
 
 # 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",
     "simulator",
     "registry",
     "vector_env",
+    "batch_rendering",
+    "challenge",
+    "environments",
+    "logging",
+]
+
+habitat.datasets.__all__ = [
+    "eqa",
+    "image_nav",
+    "object_nav",
+    "pointnav",
+    "rearrange",
+    "vln",
 ]
 
+habitat.datasets.rearrange__all__ = [
+    "combine_datasets",
+    "generate_episode",
+    "navmesh_utils",
+    "rearrange_dataset",
+    "rearrange_generator",
+    "run_episode_generator",
+    "samplers",
+]
+
+
 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

@@ -16,8 +16,9 @@ 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 transform.
+            :param root_transform: Matrix4 with the root trasnform.
         """
         self.joints = list(joints_quat)
         self.root_transform = root_transform
@@ -26,9 +27,11 @@ def __init__(self, joints_quat, root_transform):
 class Motion:
     """
     Contains a sequential motion, corresponding to a sequence of poses
+
         :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 certain amount
         :param fps: the FPS at which the motion was recorded
     """
@@ -52,6 +55,7 @@ def __init__(self, joints_quat_array, transform_array, displacement, fps):
 class HumanoidBaseController:
     """
     Generic class to replay SMPL-X motions
+
         :param motion_fps: the FPS at which we should be playing the motion.
         :param base_offset: what is the offset between the root of the character and their feet.
     """

habitat-lab/habitat/articulated_agent_controllers/humanoid_rearrange_controller.py

@@ -30,6 +30,7 @@
 class HumanoidRearrangeController(HumanoidBaseController):
     """
     Humanoid Controller, converts high level actions such as walk, or reach into joints positions
+
         :param walk_pose_path: file containing the walking poses we care about.
         :param motion_fps: the FPS at which we should be advancing the pose.
         :base_offset: what is the offset between the root of the character and their feet.
@@ -535,6 +536,7 @@ def inter_data(x_i, y_i, z_i, dat, is_quat=False):
             """
             General trilinear interpolation function. Performs trilinear interpolation,
             normalizing the result if the values are represented as quaternions (is_quat)
+
             :param x_i, y_i, z_i: For the x,y,z dimensions, specifies the lower, upper, and normalized value
             so that we can perform interpolation in 3 dimensions
             :param data: the values we want to interpolate.

habitat-lab/habitat/articulated_agent_controllers/humanoid_seq_pose_controller.py

@@ -18,6 +18,7 @@
 class HumanoidSeqPoseController(HumanoidBaseController):
     """
     Humanoid Seq Pose Controller, replays a sequence of humanoid poses.
+
         :param motion_pose_path: file containing the motion poses we want to play.
         :param motion_fps: the FPS at which we should be advancing the pose.
         :param base_offset: what is the offset between the root of the character and their feet.
@@ -64,6 +65,7 @@ def reset(self, base_transformation: mn.Matrix4) -> None:
     def next_pose(self, cycle=False) -> None:
         """
         Move to the next pose in the motion sequence
+
             :param cycle: boolean indicating whether we should stop or cycle when reaching the last pose
         """
 

habitat-lab/habitat/articulated_agents/__init__.py

@@ -30,4 +30,6 @@
     "ArticulatedAgentCameraParams",
     "StaticManipulator",
     "StaticManipulatorParams",
+    "humanoids",
+    "robots",
 ]

habitat-lab/habitat/articulated_agents/articulated_agent_base.py

@@ -31,6 +31,7 @@ def __init__(
         **kwargs,
     ):
         r"""Constructor
+
         :param params: The parameter of the base articulated agent.
         :param urdf_path: The path to the articulated agent's URDF file.
         :param sim: The simulator.

habitat-lab/habitat/articulated_agents/mobile_manipulator.py

@@ -18,12 +18,10 @@
 @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.
     """
 
@@ -38,35 +36,25 @@ class ArticulatedAgentCameraParams:
 @attr.s(auto_attribs=True, slots=True)
 class MobileManipulatorParams:
     """Data to configure a mobile manipulator.
+
     :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
     """
@@ -116,6 +104,7 @@ def __init__(
         base_type="mobile",
     ):
         r"""Constructor
+
         :param params: The parameter of the manipulator articulated agent.
         :param agent_cfg: Config to the agent. Contains urdf_path to URDF file.
         :param sim: The simulator.

habitat-lab/habitat/articulated_agents/robots/__init__.py

@@ -18,4 +18,6 @@
     "FrankaRobot",
     "SpotRobot",
     "StretchRobot",
+    "fetch_suction",
+    "spot_robot",
 ]

habitat-lab/habitat/articulated_agents/robots/spot_robot.py

@@ -17,6 +17,7 @@
 @attr.s(auto_attribs=True, slots=True)
 class SpotParams:
     """Data to configure a mobile 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,

habitat-lab/habitat/articulated_agents/static_manipulator.py

@@ -14,22 +14,18 @@
 
 @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/core/dataset.py

@@ -45,6 +45,7 @@ class BaseEpisode:
     Base class for episode specification that includes only the episode_id
     and scene id. This class allows passing the minimum required episode
     information to identify the episode (unique key) to the habitat baseline process, thus saving evaluation time.
+
     :property episode_id: id of episode in the dataset, usually episode number.
     :property scene_id: id of scene in dataset.
     """

habitat-lab/habitat/datasets/rearrange/samplers/receptacle.py

@@ -588,7 +588,7 @@ def parse_receptacles_from_user_config(
 
     :param user_subconfig: The Configuration object containing metadata parsed from the "user_defined" JSON field for rigid/articulated object and stage configs.
     :param parent_object_handle: The instance handle of the rigid or articulated object to which constructed Receptacles are attached. None or globally defined stage Receptacles.
-    :param valid_link_names: An indexed list of link names for validating configured Receptacle attachments. Provided only for ArticulatedObjects.
+    :param parent_template_directory: The filesystem directory path containing the configuration file. Used to construct the absolute asset path from the relative asset path.
     :param valid_link_names: An indexed list of link names for validating configured Receptacle attachments. Provided only for ArticulatedObjects.
     :param ao_uniform_scaling: Uniform scaling applied to the parent AO is applied directly to the Receptacle.
 

habitat-lab/habitat/gym/__init__.py

@@ -7,4 +7,10 @@
 
 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",
+    "gym_definitions",
+]

habitat-lab/habitat/utils/__init__.py

@@ -4,4 +4,11 @@
 # 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",
+]