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@mathfac mathfac released this 28 May 02:52
v0.1.5
020041d
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Major features and improvements:

  • Added Phong shading with configurable lighting for scenes and objects (#500, #515, #489).
  • Added image dataset extraction API (#483, #516).
  • Added the support of navigation metrics and shortest path calculation for custom agent configuration with recomputation of navmesh for non standard agent size. (#466).
  • Improved rendering speed by 1.2x on MP3D, 3.3x on MP3D semantic. 2.7x on Replica, 2.9x on Replica semantic, using optimized frustum culling. (#400, #449, #473, #481, #517, #521)
  • 50x speed up of RGB & Depth noise models used for sim2real transfer (#548)
  • Speed and correctness improvements to multi-goal geodesic distance computation (#465 #555)
  • Added RigidObject VelocityControl utility for dynamic and kinematic specification of constant object linear and angular velocity (#464, #486, #571, #591).
  • Added option to consider MotionType::STATIC RigidObject meshes when recomputing NavMesh (#538).
  • Added option to attach an existing SceneNode to a newly instanced RigidObject as a simple interface to enable dynamic agent embodiment (#492).
  • Allow NavMesh sliding in Habitat-sim to be turned off (#439).
  • Improved GreedyGeodesicFollower with local motion primitive planning for better performance with action noise and no sliding (#546).
  • Nightly build of docs and tutorials; nightly and deployment to Habitat website (#615, #624, #630)

Other improvements and bug fixes:

  • Added tutorial for RigidObject interactions API (#611).
  • Added tutorial for configurable lighting API (#528).
  • Added tutorial for image data extraction API (#518, #535, #539).
  • Improved default material parameters for objects (#596).
  • Added support for normal maps in glTF assets (#550).
  • Improved support for texture mipmaps (#505).
  • Improved rendering performance on semantic meshes via splitting and culling (#521).
  • Fixed a collision bug with MotionType::STATIC RigidObjects (#536).
  • Extend python bindings for oriented bounding boxes and fix bug in computeOrientedBoundingBoxes (#493).
  • Added python bindings for computing/querying SceneNode bounding boxes (#497).
  • Objects loaded by directory batch into the object template library are now consistently sorted (#479).
  • Fix glTF object miss-classification as MP3D assets and corresponding world frame rotation (#592).
  • Added OBB parsing for Replica dataset (#503)
  • Physics simulation bug fixes and stability improvements (#599).
  • Added python bindings to save a NavMesh to file (#619).
  • Added Simulator function to toggle bounding box render for objects (#610).
  • Can now build habitat-sim in directories with spaces in the path (#482)

Corresponding Habitat-API v0.1.5 release.

Kudos to our community contributors: @pushkalkatara, @danmou

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