Unified documentation for repo

[1heart]

Description

Unifies documentation for all projects in the repo under facebookresearch.github.io/fairo.

Added droidlet autogenerated documentation in CircleCI.

Note:

I considered using a single Sphinx installation for all projects, but each project requires setting up its own environment in order to properly auto-generate docs from code comments. I think a more sustainable model is having each project generate its own docs and persist that in a CircleCI Workspace, following the model in this blogpost. All projects' docs get aggregated in the final CI job and published to gh-pages, with a single entrypoint index.html for Fairo itself.

Once we have a single conda environment containing all fairo projects, then we can move to a single Sphinx install; this is out of scope for this PR.

TODO:

• Get ssh write access to repo for upload bot
• Generate Droidlet docs in CircleCI
• Improve root index.html -- currently very plain
• Unified Sphinx theme?
• Reapply Auto-push formatting fixes for Python #1000 after review (revert 81efbaa)
• Reapply main branch filter after review

Future PR:

• Once we have a unified conda environment building all jobs (droidlet, polymetis, fbrp, perception stack), we can actually have a single Sphinx doc website with all projects linking to each other on the sidebar.

---

• Bug fix (non-breaking change that fixes an issue)
• Proposes a change (non-breaking change that isn't necessarily a bug)
• Refactor
• New feature (non-breaking change that adds a new functionality)
• Breaking change (fix or feature that would break some existing functionality downstream)
• This is a unit test
• Documentation only change
• Datasets Release
• Models Release

Type of requested review

• I want a thorough review of the implementation.
• I want a high level review.
• I want a deep design review.

Before and After

Testing

Copy generated docs into docs/project-name, then host a webserver serving this folder (e.g. python -m http.server).

Checklist:

• I have performed manual end-to-end testing of the feature in my environment.
• I have added Docstrings and comments to the code.
• I have made changes to existing documentation where needed.
• I have added tests that show that the PR is functional.
• New and existing unit tests pass locally with my changes.
• I have added relevant collaborators to review the PR before merge.
• [Polymetis only] I ran on hardware (1) all scripts in tests/scripts, (2) asv benchmarks.

[exhaustin]

Looks great in general!

Cmiiw, the current workflow within .circleci/config.yml for adding a documentation of a new project looks like: build docs into a folder -> copy html files to doc directory /tmp/workspace/docs/project_name -> persisting that doc directory.
Is it possible to deduplicate these steps across different packages by maybe having a command to complete these actions automatically assuming the env has been set up and that docs are placed in fairo/project_name/docs?

To be clear, the config for a project would look something like:

jobs:
...
  project_name:
    ...
    steps:
    - checkout
    - run:
        name: Setup env & install project
        ...
    - run:
        name: Run tests
        ...
    - build_and_register_docs

Thus adding docs for a new project becomes a simple task of correctly placing sphinx source files and adding a single command to the CircleCI config.

[codecov-commenter]

Codecov Report

Merging #993 (ca5b634) into main (246ba18) will increase coverage by 0.06%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main     #993      +/-   ##
==========================================
+ Coverage   33.16%   33.23%   +0.06%     
==========================================
  Files         346      347       +1     
  Lines       34034    34279     +245     
==========================================
+ Hits        11286    11391     +105     
- Misses      22748    22888     +140     

Impacted Files	Coverage Δ
agents/_agent.py	44.08% <0.00%> (-7.69%)	⬇️
interpreter/craftassist/tasks.py	74.45% <0.00%> (-0.55%)	⬇️
agents/droidlet_agent.py	51.76% <0.00%> (ø)

[exhaustin]

LGTM, approving to unblock merging, but feel free to wait for other reviewers since this change affects multiple projects.
Thanks!