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

v0.1.6

Major features and improvements:

• Interactive Habitat-sim feature tutorials released for ECCV 2020 available at https://aihabitat.org/tutorial/2020/. (#677)
• Added tutorial and related utilities for performance profiling and optimization. (#754, #753)
• Added stable and nightly conda builds as described in README installation instructions. (#695, #671, #445, #616, #663 )
• Introduced AttributeManagers to unify the configuration interface for modifying properties of objects, stages, assets, etc… before instancing. (#643, #646, #656, #659, #673, #687, #707, #708, #735, #744, #764, #766)
• Instantiating new objects into a scene and object kinematics are now always available. Enabling physics in Simulator configuration now refers explicitly to dynamics/collision support. (#697)
• Added ray un-projection for RenderCamera and raycasting support for scene collision objects through Bullet physics. (#723)
• Added configurable semantic IDs for objects and SceneNodes. (#668, #679, #694)
• Added unique IDs for all Drawables, a render setup to capture IDs, a picking implementation to select Drawables from ID render, and a new MeshVisualizerDrawble to highlight selected objects in the Viewer application. (#653, #654, #661, #745)
• Refactor Viewer application to directly consume the Simulator class API and other improvements. (#752, #642, #647)

Other improvements and bug fixes:

• Added cache/query for area of NavMesh. (#670)
• Added NavMesh wireframe visualization for Simulator. (#663, #683, #700)
• Added python utilities to make videos from visual sensor observations. (#734)
• Improved sim docs pages and API documentation. (#778, #777, #776, #738)
• Bug fixed enabling frustum culling for Replica dataset. (#747)
• Added new code format validation and automation. (#750, #741, #722, #682)
• Added automated Colab notebook <-> python conversion to pre-commit. (#677)
• Updated to new Magnum MaterialData APIs. (#740)
• Added python bindings for transforming bounding boxes. (#712)
• Generalize json io handling. (#698)
• Added Bullet physics support to Javascript build. (#690)
• Improvements to image extraction utility. (#629)
• Fixed physics bugs related to treatment of kinematic objects. (#801, #802)

Corresponding Habitat-Lab v0.1.6 release.

Kudos to our community contributors: @mpiseno @qureshinomaan