Hab tasks fix

[ASzot]

Motivation and Context

On master there are critical bugs in the Habitat 2.0 pick task. While the task is runnable, many things don’t work at all (described in the changes section). This PR fixes all the issues to make the Pick task actually work as detailed in the Habitat 2.0 paper.

This PR is blocked by this Habitat Sim PR: facebookresearch/habitat-sim#1373

How Has This Been Tested

With test_rearrange_task.py. Also with the newly added interactive play script which is run as

python examples/interative_play.py

This allows the user to manually control the robot. Using this, I verified all aspects of the picking task work. I tried various scenarios such as picking up the correct object, wrong object, picking up no object, colliding with the scene, etc.

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Critical fixes:

• Collision force measurements. Before the collision force was not properly returned, resulting in episodes immediately terminating. I completely fixed this.
• Contact measuring. The contact API changed. I updated the code to use the new API, and properly return contacts differentiating between obj-on-scene, robo-on-scene, and robo-on-obj types of contacts.
• Starting state. Before the robot arm was not properly set and the lack of proper contact checking made the robot spawn in bad locations resulting in the episode immediately ending. I completely fixed this.
• Snap to grasp manager. The old code for grasping objects didn’t work at all since it was with the old API. I fixed this and refactored it into a separate grasp manager. Now grasps work as before.
• New collision groups. The collision group API changed which resulted in the grasped object being unstable. I fixed this so the grasp manager takes care of the collision groups.
  Non-critical fixes:
• Added interactive play test utility script. This is an important way to test the functionality.
• Refactored to add collision specific measurements.
• Refactored the rearrange simulator class to have less responsibility.
• Refactored which components get which parts of the config.
• Removed unnecessary rearrange utility functions.
  Still TODO fixes which will be included in this PR.
• Adding more documentation and typing.
• Record trajectory from the interactive play script for automated testing.
• Add episode generation script for rearrangement tasks under examples folder.
• Properly load in scene config for new ReplicaCAD format.

Example of interactive play script:

vid.mov

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.