diff --git a/configs/README.md b/configs/README.md
deleted file mode 100644
index 6d8772f4ce9e76b011ffcf38e25d3924359e3a37..0000000000000000000000000000000000000000
--- a/configs/README.md
+++ /dev/null
@@ -1,103 +0,0 @@
-Habitat-API Configuration
-==============================
-
-Habitat-API uses [Yacs configuration system](https://github.com/rbgirshick/yacs)
-with the paradigm of `your code + a YACS config for experiment E (+
-external dependencies + hardware + other nuisance terms ...) =
-reproducible experiment E`. Yacs advantages:
-- Checks for type consistency.
-- All parameters and default values are searchable in the code.
-- A parameter doesn't need to be set always as each parameter has a
- default value.
-- Ability to freeze config to prevent unintended changes.
-
-## Config usage
-An example of how to merge default config with 2 others configs and overwrite
-one parameter that could come from the command line:
-```
- merged_config = get_config(
- config_paths=["configs/tasks/pointnav.yaml",
- "configs/dataset/val.yaml"],
- opts=["ENVIRONMENT.MAX_EPISODE_STEPS", steps_limit]
- )
-
-```
-
-## Config structure
-Below is the structure of config used for Habitat:
-- Environment
-- Task
- - Sensors
- - Measurements
-- Simulator
- - Agent
- - Sensors
-- Dataset
-
-We use node names (e.g. `SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR']`) instead of list
-of config nodes (e.g. `SENSORS: [{TYPE = "HabitatSimDepthSensor",
-MIN_DEPTH = 0}, ...]`) to declare the Sensors attached to an Agent or Measures
-enabled for the Task . With this approach, it's still easy to overwrite a
-particular sensor parameter in yaml file without redefining the whole sensor
-config.
-
-## Extending the config
-Example of how to extend a config outside of `habtiat-api` repository.
-First, we create a config extending the default config in the code and re-use
-`habitat.get_config()`:
-```
-import habitat
-import argparse
-from typing import List, Optional, Union
-
-_C = habitat.get_config()
-_C.defrost()
-# Add new parameters to the config
-_C.TASK.EPISODE_INFO = habitat.Config()
-_C.TASK.EPISODE_INFO.TYPE = "EpisodeInfo"
-_C.TASK.EPISODE_INFO.VALUE = 5
-_C.TASK.MEASUREMENTS.append("EPISODE_INFO")
-
-# New function returning extended Habitat config that should be used instead
-# of habitat.get_config()
-def my_get_config(
- config_paths: Optional[Union[List[str], str]] = None,
- opts: Optional[list] = None,
-) -> habitat.Config:
- CONFIG_FILE_SEPARATOR = ","
- config = _C.clone()
- if config_paths:
- if isinstance(config_paths, str):
- if CONFIG_FILE_SEPARATOR in config_paths:
- config_paths = config_paths.split(CONFIG_FILE_SEPARATOR)
- else:
- config_paths = [config_paths]
-
- for config_path in config_paths:
- config.merge_from_file(config_path)
-
- if opts:
- config.merge_from_list(opts)
-
- config.freeze()
- return config
-
-def main():
- parser = argparse.ArgumentParser()
- parser.add_argument(
- "--task-config",
- type=str,
- default="configs/tasks/pointnav.yaml,"
- "configs/datasets/pointnav/habitat_test.yaml",
- )
- parser.add_argument(
- "opts",
- default=None,
- nargs=argparse.REMAINDER,
- help="Modify config options from command line",
- )
- args = parser.parse_args()
- config = my_get_config(config_paths=args.task_config, opts=args.opts)
- env = habitat.Env(config)
-
-```
diff --git a/configs/test/new_keys_test.yaml b/configs/test/new_keys_test.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..af9cbb87e778b2959cd890a34ffda218ba58584d
--- /dev/null
+++ b/configs/test/new_keys_test.yaml
@@ -0,0 +1,6 @@
+ENVIRONMENT:
+ NEW_KEY: 20
+ ITERATOR_OPTIONS:
+ MY_PARAM: "test"
+TASK:
+ MY_NEW_TASK_PARAM: test
diff --git a/habitat/config/__init__.py b/habitat/config/__init__.py
index 6734e3fc2cfeb467fbe56f92f09e5d9c9b7e6d8a..408bf75753299706465cda59b00dce7514f83f94 100644
--- a/habitat/config/__init__.py
+++ b/habitat/config/__init__.py
@@ -3,9 +3,122 @@
# Copyright (c) Facebook, Inc. and its affiliates.
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
+from habitat.config.default import Config, get_config
-from yacs.config import CfgNode as Config
+r"""Habitat-API Configuration
+==============================
-from habitat.config.default import get_config
+Habitat-API uses [Yacs configuration system](https://github.com/rbgirshick/yacs)
+with the paradigm of `your code + a YACS config for experiment E (+
+external dependencies + hardware + other nuisance terms ...) =
+reproducible experiment E`. Yacs advantages:
+- Checks for type consistency.
+- All parameters and default values are searchable in the code.
+- A parameter doesn't need to be set always as each parameter can have a
+ default value.
+- Ability to freeze config to prevent unintended changes.
+
+## Config usage
+An example of how to merge default config with 2 others configs and overwrite
+one parameter that could come from the command line:
+```
+ merged_config = get_config(
+ config_paths=["configs/tasks/pointnav.yaml",
+ "configs/dataset/val.yaml"],
+ opts=["ENVIRONMENT.MAX_EPISODE_STEPS", steps_limit]
+ )
+
+```
+
+## Config structure
+Below is the structure of config used for Habitat:
+- Environment
+- Task
+ - Sensors
+ - Measurements
+- Simulator
+ - Agent
+ - Sensors
+- Dataset
+
+We use node names (e.g. `SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR']`) instead of list
+of config nodes (e.g. `SENSORS: [{TYPE = "HabitatSimDepthSensor",
+MIN_DEPTH = 0}, ...]`) to declare the Sensors attached to an Agent or Measures
+enabled for the Task . With this approach, it's still easy to overwrite a
+particular sensor parameter in yaml file without redefining the whole sensor
+config.
+
+## Extending the config without defaults
+Create a YAML file and add new fields and values. Load the custom config using
+`habitat.get_config()` and defined fields will be merged in default Habitat config:
+```
+import habitat
+import argparse
+from typing import List, Optional, Union
+
+config = habitat.get_config("{path to user define yaml config}")
+env = habitat.Env(config)
+```
+
+## Extending the config with default values
+Example of how to extend a config outside of `habtiat-api` repository.
+First, we create a config extending the default config in the code and re-use
+`habitat.get_config()`:
+```
+import habitat
+import argparse
+from typing import List, Optional, Union
+
+_C = habitat.get_config()
+_C.defrost()
+# Add new parameters to the config
+_C.TASK.EPISODE_INFO = habitat.Config()
+_C.TASK.EPISODE_INFO.TYPE = "EpisodeInfo"
+_C.TASK.EPISODE_INFO.VALUE = 5
+_C.TASK.MEASUREMENTS.append("EPISODE_INFO")
+
+# New function returning extended Habitat config that should be used instead
+# of habitat.get_config()
+def my_get_config(
+ config_paths: Optional[Union[List[str], str]] = None,
+ opts: Optional[list] = None,
+) -> habitat.Config:
+ CONFIG_FILE_SEPARATOR = ","
+ config = _C.clone()
+ if config_paths:
+ if isinstance(config_paths, str):
+ if CONFIG_FILE_SEPARATOR in config_paths:
+ config_paths = config_paths.split(CONFIG_FILE_SEPARATOR)
+ else:
+ config_paths = [config_paths]
+
+ for config_path in config_paths:
+ config.merge_from_file(config_path)
+
+ if opts:
+ config.merge_from_list(opts)
+
+ config.freeze()
+ return config
+
+def main():
+ parser = argparse.ArgumentParser()
+ parser.add_argument(
+ "--task-config",
+ type=str,
+ default="configs/tasks/pointnav.yaml,"
+ "configs/datasets/pointnav/habitat_test.yaml",
+ )
+ parser.add_argument(
+ "opts",
+ default=None,
+ nargs=argparse.REMAINDER,
+ help="Modify config options from command line",
+ )
+ args = parser.parse_args()
+ config = my_get_config(config_paths=args.task_config, opts=args.opts)
+ env = habitat.Env(config)
+
+```"""
__all__ = ["Config", "get_config"]
diff --git a/habitat/config/default.py b/habitat/config/default.py
index a57dd16de46d46b87cebb478cd783c3b78adb762..559e2c46670e8942da9ce92719eb47279b8a3eef 100644
--- a/habitat/config/default.py
+++ b/habitat/config/default.py
@@ -6,7 +6,17 @@
from typing import List, Optional, Union
-from habitat.config import Config as CN # type: ignore
+import yacs.config
+
+# from habitat.config import Config as CN # type: ignore
+
+# Default Habitat config node
+class Config(yacs.config.CfgNode):
+ def __init__(self, *args, **kwargs):
+ super().__init__(*args, **kwargs, new_allowed=True)
+
+
+CN = Config
DEFAULT_CONFIG_DIR = "configs/"
CONFIG_FILE_SEPARATOR = ","
diff --git a/test/test_config.py b/test/test_config.py
index a113e82e91354f6d501c103db46bfdcb73edb91f..d9d5b8a8490434c7640d34ba8613f8d97594207e 100644
--- a/test/test_config.py
+++ b/test/test_config.py
@@ -8,6 +8,7 @@ from habitat.config.default import get_config
CFG_TEST = "configs/test/habitat_all_sensors_test.yaml"
CFG_EQA = "configs/test/habitat_mp3d_eqa_test.yaml"
+CFG_NEW_KEYS = "configs/test/new_keys_test.yaml"
MAX_TEST_STEPS_LIMIT = 3
@@ -22,6 +23,20 @@ def test_merged_configs():
)
+def test_new_keys_merged_configs():
+ test_config = get_config(CFG_TEST)
+ new_keys_config = get_config(CFG_NEW_KEYS)
+ merged_config = get_config("{},{}".format(CFG_TEST, CFG_NEW_KEYS))
+ assert (
+ merged_config.TASK.MY_NEW_TASK_PARAM
+ == new_keys_config.TASK.MY_NEW_TASK_PARAM
+ )
+ assert (
+ merged_config.ENVIRONMENT.MAX_EPISODE_STEPS
+ == test_config.ENVIRONMENT.MAX_EPISODE_STEPS
+ )
+
+
def test_overwrite_options():
for steps_limit in range(MAX_TEST_STEPS_LIMIT):
config = get_config(