v0.2.2

Major features and improvements:

• Add audio sensor via integration with RL Audio Propagation Engine (#1646, #1780, #1781) (doc page)
• Add Python interactive Viewer utility (#1519, #1538, #1551, #1555, #1558, #1629, #1631, #1632, #1706, #1704, #1707)
• Add FairMotion Interface examples for loading motion capture into Habitat-sim (#1552, #1557, #1560, #1561, #1578)
• Introduce new Habitat configurable logging framework and migrate from GLOG (#1411, #1428, #1431, #1435) (doc page)
• Refactor all C++ tests to CorradeTestSuite (#1476, #1477)
• Make habitat-sim PIP installable (#1440)
• Add nightly OSX Conda build (#1430)
• Image Based Lighting (IBL) prototype support for PBR shading (#1461, #1488, #1412)
• Add Bullet CollisionHelper utility (#1484)
• Add CollisionGroup overriding for BulletArticulatedObjects (#1597)
• Add get_joint_motor_torques function by @SimarKareer in #1585
• Rigid Object Instance Non-uniform scaling by @jturner65 in #1742
• Support user defined config values for ArticulatedObjects defined in JSON accompanying URDFs (#1458)
• Support Wildcard handling in SceneDataset config files (#1584, #1743)
• Support saving SceneInstance config files from current simulator state (#1568, #1416)
• Breaking Change: Remove all object manipulation functionality from Simulator API in favor of ObjectWrapper interface (#1574)
• Breaking Change: Upgrade minimum python version requirement to 3.7 (#1647)
• Breaking Change: Python module moved from habitat_sim/ to src_python/habitat_sim/ by @erikwijmans in #1586

Datasets

• ReplicaCAD v1.1→v1.5 (#1681, #1685, #1694, #1729)
• YCB v1.2 (#1772)
• Replica-Dataset install and use directions updated (#1771)
• Support HM3D semantic textures (#1556, #1592, #1618, #1638, #1657, #1658, #1669, #1678, #1690, #1709)
• Support ScanNet asset importing (#1434)
• Remove SUNCG dataset support/references by @jturner65 in #1591
• Adding rearrange_pick_dataset_v1 by @vincentpierre in #1664

Other improvements and bug fixes:

Bugfixes

• [bugfix] fix consistent typo across many tutorial files by @aclegg3 in #1419
• [BugFix] Update download script to get most recent version of ReplicaCAD dataset by @jturner65 in #1398
• [bugfix] Fix missing reserve call for std::vector for ManagedContainer by @Skylion007 in #1425
• [bugfix] fix overlay_settings not being forwarded by @aclegg3 in #1422
• [Bugfix] Fix bugs in examples benchmarking by @Skylion007 in #1429
• [BUGFIX]Remove redundant method refs in log messages by @jturner65 in #1432
• [Bugfix]Clean up '0-as-null pointer' warnings by @jturner65 in #1442
• [BUGFIX] Do not set orientation based on file ext if default attributes provided, overrides default config for orientation. by @jturner65 in #1439
• [bugfix][viewer] Allow user to hide mouseinteraction text by @Skylion007 in #1444
• CollisionGroup::Noncollidable fix by @eundersander in #1449
• --Fix clang-tidy cast complaint in configuration. by @jturner65 in #1453
• --[BugFix]Fix erroneous ConfigStoredType checks by @jturner65 in #1456
• [bugfix] Fix bug in detecting if is_pip() by @Skylion007 in #1457
• [bugfix][colab] Dynamically pin numba to appropiate colab version by @Skylion007 in #1459
• Fix Double PathFinder by @erikwijmans in #1483
• [Bugfix]: make corrade plugins static by @Skylion007 in #1480
• [BugFix]--Address when Bullet is available but physics is not enabled. by @jturner65 in #1494
• [BugFix]--Fix improper JSON object access. by @jturner65 in #1493
• [Bugfix]--address segfaults by catching nullptr attribs and exiting gracefully by @jturner65 in #1515
• Fix semantic rendering by @erikwijmans in #1507
• Fix broken link in webxr hand demo docs by @eundersander in #1523
• Bugfix for Imgui assert on hiding FPS display by @eundersander in #1521
• Fixing macOS linking bug by @dhruvbatra in #1520
• (bugfix): Fix conda and docs nightly jobs by @Skylion007 in #1531
• [Bugfix]--Add default entries into configuration by @jturner65 in #1547
• [Bugfix/Refactor]--Fix .ply load limitations and bugs by @jturner65 in #1542
• Mobile Manipulator Bug Fix and Input Validation by @ASzot in #1537
• [BugFix]--bypass test_sensor tests if no torch is found. by @jturner65 in #1559
• [Bugfix]--Fix CatmullRom Traj off-by-ones; add multiple colorspaces gradient support by @jturner65 in #1571
• [Bugfix/Refactor]--Acquire render context on object removal; Cleanup superfluous add objects by @jturner65 in #1581
• [Bugfix/Refactor]--Some attributes fixes and improvements by @jturner65 in #1588
• [Bugfix]--Appropriately handle multiple meshes being assigned to the same transform node. by @jturner65 in #1609
• [Bugfix]--fix missing slots declarations of pimpl implementation refs. by @jturner65 in #1610
• Fix segfault on init failure by @erikwijmans in #1623
• --Viewer : minor bugs; refactor drawEvent by @jturner65 in #1621
• --Bug fixes: Navmesh building and reconfigure in viewer.py by @jturner65 in #1632
• [Bugfix]--Move .ply transform to before all potential vert-based calcs by @jturner65 in #1635
• [bugfix] - index torques by link DoF by @aclegg3 in #1637
• Fix performance issues with calc MOBB by @Skylion007 in #1648
• Fixes bug that only allow constraints to be set in one direction of a singular axis by @lucasosouza in #1645
• [Bugfix]--Support HM3D categories having commas between quotes by @jturner65 in #1652
• [Bugfix]-- Fix semantic color map binds (arrayView -> const ref) by @jturner65 in #1654
• [Bugfix]--Add "unknown" object corresponding to semantic ID 0 for HM3D; Refactors for Texture Semantics by @jturner65 in #1657
• [Bugfix]--verify directory is not empty before using it to save attributes by @jturner65 in #1668
• [Bugfix] Fix python bindings for OBB by @Skylion007 in #1670
• [BUGFIX]--fix replicaCAD quickstart to not default to showing the NONE scene by @jturner65 in #1682
• [Bugfix]--Verify that semantic scenes exist before reporting by @jturner65 in #1683
• Properly use texture transformation matrix for flat materials as well. by @mosra in #1688
• Fix noise model by @erikwijmans in #1684
• --General Bug fixes, Style Refactors and Improvements. by @jturner65 in #1698
• Mobile Manipulator Bug Fix by @ASzot in #1700
• [BUGFIX]--Address mem leak in ConfigValue destructor for strings. by @jturner65 in #1725
• [bugfix] - compute navmesh visualization node AABB by @aclegg3 in #1727
• [bugfix] - viewer toggle lighting override with --stage-requires-lighting by @aclegg3 in #1754
• [Bugfix]--add missing fields to AssetInfo comparator; by @jturner65 in #1757
• [bugfix] - moveUp moveDown by @aclegg3 in #1763
• [bugfix] - Working with Lights tutorial update ...

v0.2.2 rc1

v0.2.2 rc1

v0.2.1

Major features and improvements:

• Fetch Robot Wrapper improvements: added third person camera, utility functions for the base movement, refactored the interpolate arm function (#1373)
• PBR/IBL functionality to render an equirectangular image to cubemap (#1390, #1391)
• The WebXR/WebVR hand functionality and demo with refactoring JS code to support future webapps (#1366, #1364, #1365)
• Added support for nested user-defined attributes for scene data structures (#1413)
• Added debug line render utility (#1349)
• Powered by CI OSX conda package build (#1386)
• Added viewer Hot-swap scenes functionality (#1368)

Other improvements and bug fixes:

• Dataset download util default path improvements (#1362, #1369).
• Fix Colab install issue with scipy (#1361)
• Better default physics config
• Readme restructure to reflect Habitat 2.0 functionality (#1394, #1395, #1403).
• Upgrade Pybind11 to 2.7 (#1388) and Updated Magnum submodules (#1404).
• gltf/glb "extensionsUsed" not being set for Khronos validation (#1402)
• Improved documentation for ContactPointData #1372
• Cleanup and development of flag to enable/disable rendering (#1308)
• Enable URDF AO Loader to support unlit / baked lighting assets. #1408
• Various bug fixes, including:
  • Fixed bug in scene instance list view start. (#1380)
  • Change URDF assert to ESP_CHECK (#1397)

Corresponding Habitat-Lab v0.2.1 release.

Kudos to our community contributors: @ldcWV, @srama2512

v0.2.0

Major features and improvements:

• Introducing ArticulatedObject API via Bullet physics including: URDF file import, Revolute|Prismatic|Spherical joints with joint position/velocity/torque control, JointMotor control interface. (#1300, #1312, #1326, #1309, #1228, #1254)
• Rigid point-to-point and fixed frame constraints between objects. (#1328)
• Query detailed contact point information from previous collision detection pass (#1257).
• Customize collision groups and masks for objects with the CollisionGroupHelper. (#1280)
• New, user-friendly ManagedObject interface deprecates previous ID-based interface through Simulator class. Now apply commands and set/query properties directly on objects. (#1189, #1246, #1286, #1288)
• RobotWrapper for defining high-level robot interface on top of ArticulatedObject API w/ initial Fetch robot platform example. (#1341)
• Option to enable asynchronous rendering via background thread for improved end-to-end performance in simulation heavy scenarios by overlapping CPU-side simulation and GPU-side rendering. (#1229)
• SceneDataset improvements:
  • Automated scene instancing loads stage, rigid and articulated objects, lights, navmesh, etc... from scene config handle. (#1034, #1274)
  • Support for glob wildcards '*' in config paths. (#1152)
  • User defined custom fields in JSON now passed through to programmatic structures. Cache your own metadata! (#1302)
  • CSV information report output. See your full config system at a glance. (#1331)
  • Reference assets (e.g., .glb) directly by filepath in configuration. (#1255)
• New utility habitat_sim/utils/datasets_download.py with versioning and custom data paths simplifies the asset download and setup process significantly. (#1198)
• Hierarchical Sensor Framework re-design (#1064, #1098, #1090, #1117, #1138, #1118, #1159):
  • Decouple sensors from agents.
  • SensorFactory and VisualSensor hierarchy.
  • Extensible design enables straightforward contribution of custom sensors.
• New spherical sensors with RGB, depth, and semantic rendering:
  • CubeMaps (#1011, #1306)
  • Optimized FishEye sensor with 5x speedup. (#1131, #1168, #1291, #1221)
  • Equirectangular sensor. (#1179, #1187, #1221)
• Integrated VHACD to produce convex decompositions of mesh assets after import into Habitat-sim with .obj export. Optimize collision detection for your assets with a utility for configuring parameters and visualizing output. (#1055, #1294)
• New VoxelField data-structures supporting multiple layered data types and a variety of features, including (#1140, #1154, #1172):
  • Automated boundary voxelization of stages and objects via VHACD.
  • Scalar gradient vector field computation.
  • Signed Distance Field (SDF) computation on boundary fields.
  • Visualization of boundary voxels, heat maps, vector fields in object local frames.
• Frustum culling on inserted and physically simulated objects for faster rendering of staged and dynamic scenes. (#1095)
• Added a pre-process utility tool for basis compression of asset textures resulting in faster load and render times. (#1290)

Other improvements and bug fixes:

• Stand-alone MetaDataMediator can be configured outside of a Simulator instance and provided during construction for more control + improvements. (#1099, #1243, #1265)

• Option to specify shader_type for assets in configuration. (#1183)

• Option to scale all lights in a scene uniformly brighten or dim. (#1339)

• Stages default to falt shading. (#1307)

• Allow custom primitives to be re-constructed from their unique string key enabling de-serialization of procedural assets. (#1314)

• Added a variety of automated code formatters and style checks to pre-commit, linters, and CI. (#1075, #1094, #1102, #1108, #1200, #1219, #1220, #1222, #1240, #1241, #1250, #1249, #1259, #1267, #1275, #1301, #1303, #1313, #1337)

• Optimize CI testing and conda build with parallel execution (~6x test speedup). (#1238, #1239)

• Add custom background clear color for VisualSensorSpec. (#1153)

• Physics simulation benchmarking example utility (#1048)

• Setup pytest-benchmark CI integration. (#1323)

• Better logging paradigm (ESP_CHECK) for C++ assertions which propagate failure message and stack trace to python. (#1111)

• WebVR examples replaced with WebXR and improved controls (#1139)

• Added some object instancing and physics functionality to JavaScript bindings (#1146, #1271)

• Improved Viewer application features including:

  • Depth and Semantic sensor visualization options. (#1066, #1207)
  • Add interactive mouse mode with RigidConstraints and removed old-style interactive key-binds + default lighting override. (#1351)
  • Serialization and loading of agent and sensor transforms. (#1180)
  • Bullet debug draw toggle with ','.

• Added XML parsing support via tinyxml2. (#1137)

• PrettyWriter and precision JSON export. (#1340)

• Added Colab tutorial for easily visualizing asset turn-tables in Habitat-sim. (#1318)

• Upgraded Magnum version to include a variety of new features and optimizations.

• Upgraded Recast submodule. (#1194)

• Change default lighting to better support PBR materials. (#1351)

• Set render buffer properly based on sensor type to speed up rendering. (#1104)

• Optimize PBR shader to improve speed. (#1320, #1317)

• Various bug fixes, including:

  • Set bounds correctly for programmatically recomputed NavMeshes. (#1192)
  • Fix Mac driver bug for depth display (#1181)
  • Correctly support vertex-colors for flat shaded assets. (#1289)
  • De-duplicate sequential points in trajectory visualization. (#1316)
  • Fixed and improved some doc-string issues. (#1281, #1204)

Corresponding Habitat-Lab v0.2.0 release.

Kudos to our community contributors: @vauduong @ScottCSteinhauser @ldcWV @Ram81 @naokiyokoyama @BlaiseRitchie

v0.2.0 rc2

v0.2.0 rc2

v0.2.0 rc1

v0.2.0 rc1

v0.1.7

Major features and improvements:

• Introduced GFX Replay feature. Save graphical replays and play them back. Reproduce earlier observations or produce new observations from different camera positions. (#1049, #983)
• Now supporting Physically Based Rendering (PBR) with point and directional lights. Supports metallic-roughness models specified in glTF 2.0., normal maps, normal texture scale, emissive textures, packed textures, texture transformation, double-sided objects, etc... (#837, #840, #863, #889, #895, #898, #902)
• Introduced new cubemap render camera type (#1000)
• Added Orthographic projection mode and zoom to CameraSensor. (#933)
• Introduced the MetaDataMediator class and SceneDataset concept to manage all metadata used to describe simulator, object, stage, lighting, and scene configuration. Includes JSON configuration framework and parsing (specs) and a programmatic configuration API in both C++ and python(attributes|managers|metadata). (#862, #818, #817, #819, #852, #869, #879, #881, #883, #885, #897, #917, #928, #923, #990)
• Added a flag to enable/disable collisions for objects and stages. (#932)

Other improvements and bug fixes:

• Various improvements to viewer application:

  • Screenshots now automatically routed to new output directory each time viewer is run. (#807)
  • SPACE toggles dynamic simulation and '.' takes single steps. (#887)
  • Added objects now set to agent orientation. (#887)
  • Keyboard control of agent movement is now continuous instead of discrete. (#1013)
  • Added per-frame profiling overlay. (#1015, #1039)
  • Handle mouse scroll+shift for mac (#1040)
  • Integrated GFX Replay recording with 'r'. (#1001)

• Added JSON reading and writing in C++ with serialization for most Magnum types and some user types. (#980)

• Removed SceneConfiguration functionality absorbed into new MetadataMediator. (#906)

• Moved SimulatorConfiguration to its own source files. (#815)

• Various bug fixes, including:

  • Pytest crash when habitat-sim and habitat-lab were installed in the same directory. (#908)
  • STATIC objects now have properly configured friction, restitution, and damping. (#846)
  • Fixed issue with MP3D bounding box loading. (#832)
  • Use normal matrix in GenericDrawable. (#838)
  • Correctly use flags to setup shader values in GenericDrawable. (#876)
  • Fix ptex assertion. (#939)
  • Update sensor enums from all-caps to Pascal style. (#1009)
  • Fix configuration edge case in renderer creation logic. (#962)
  • MotionType::UNKOWN changed to UNDEFINED with value -1. (#861)

Corresponding Habitat-Lab v0.1.7 release.

Kudos to our community contributors: @mpiseno @mwouts

v0.1.7 rc3

v0.1.7 rc3

v0.1.7 rc2

v0.1.7 rc2

v0.1.7 rc1

v0.1.7 rc1