Interactive RigidObject python tutorial page

[aclegg3]

Motivation and Context

Added a much needed tutorial for rigid object interactivity through the python Simulator API.

How Has This Been Tested

New tutorial code is run in tests/test_examples.py.

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)

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.

[codecov]

Codecov Report

Merging #611 into master will increase coverage by 0.93%.
The diff coverage is 88.54%.

@@            Coverage Diff             @@
##           master     #611      +/-   ##
==========================================
+ Coverage   57.76%   58.69%   +0.93%     
==========================================
  Files         135      136       +1     
  Lines        5974     6162     +188     
  Branches       84       84              
==========================================
+ Hits         3451     3617     +166     
- Misses       2523     2545      +22     

Flag	Coverage Δ
#CPP	53.40% <ø> (ø)
#JavaScript	10.00% <ø> (ø)
#Python	77.24% <88.54%> (+0.90%)	⬆️

Impacted Files	Coverage Δ
habitat_sim/simulator.py	95.93% <75.00%> (-0.32%)	⬇️
examples/tutorials/rigid_object_tutorial.py	88.70% <88.70%> (ø)
habitat_sim/physics.py	100.00% <100.00%> (ø)

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[jturner65]

Looks really good. Should be really helpful for folks.

[dhruvbatra]

I am unable to build documentation:

Edit: Nvm. For some reason, bindings weren't being built. Clean build fixed it.

dbatra at dbatra-mbp in ~/projects/habitat-sim/docs on rigid-object-tutorial
$ ./build-public.sh
...
...
Traceback (most recent call last):
  File "./m.css/documentation/python.py", line 2636, in <module>
    module = SourceFileLoader(name, args.conf).load_module()
  File "<frozen importlib._bootstrap_external>", line 399, in _check_name_wrapper
  File "<frozen importlib._bootstrap_external>", line 823, in load_module
  File "<frozen importlib._bootstrap_external>", line 682, in load_module
  File "<frozen importlib._bootstrap>", line 265, in _load_module_shim
  File "<frozen importlib._bootstrap>", line 684, in _load
  File "<frozen importlib._bootstrap>", line 665, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 678, in exec_module
  File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
  File "conf-public.py", line 9, in <module>
    from conf import *
  File "/Users/dbatra/projects/habitat-sim/docs/conf.py", line 17, in <module>
    import habitat_sim  # NOQA
  File "/Users/dbatra/projects/habitat-sim/docs/../habitat_sim/__init__.py", line 16, in <module>
    from habitat_sim.simulator import *
  File "/Users/dbatra/projects/habitat-sim/docs/../habitat_sim/simulator.py", line 21, in <module>
    from habitat_sim.physics import MotionType
  File "/Users/dbatra/projects/habitat-sim/docs/../habitat_sim/physics.py", line 5, in <module>
    from habitat_sim._ext.habitat_sim_bindings import MotionType, VelocityControl
ImportError: cannot import name 'VelocityControl'

[dhruvbatra]

Looks great overall! Kudos! Will be quite valuable to our users.

[dhruvbatra]

I understand the workflow now after reading this. I had initially unzipped locobot_merged into the data/locobot_merged folder and was surprised when the example script crashed. (I do now see that in your instructions, you do ask them to be unzipped into data/objects/)

Instead of dumping everything into a single objects folder, would it be better to unzip locobot_merged.zip into data/locobot_merged so that way each asset-dataset is contained in it's own folder?

[aclegg3]

Hm, in this case it may be best to add another directory like we have for scenes (data/scene_datasets/) and do data/object_datasets/objects/ and data/object_datasets/locobot_merged/.

[aclegg3]

Changing this would break some existing user workflows I think. Let's talk about data organization and make a separate PR to update things to clarify the breaking nature of this change.

[dhruvbatra]

Sounds good.

[dhruvbatra]

Reviewing this PR was like unwrapping a basket of gifts. So many goodies.