Releases · facebookresearch/habitat-sim

28 May 02:52

mathfac

v0.1.5

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)

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)

Kudos to our community contributors: @pushkalkatara, @danmou

Assets 2

21 Jan 23:57

mathfac

v0.1.4

Rigid body physics support improvements: Bullet debug visualization in viewer demo (#298), Visual and collision bounding boxes (#237, #423), Compound object support (#301, #310, #317), Configurable object scaling (#428), Discrete contact testing (#425)
The shortest path can be calculated for different agent sizes with programmatic Navmesh recomputation (#333)
Added Redwood noisy depth (#189) and RGB noise models (#357) to support sim2real direction.
Implemented support of Gibson Semantics scene meshes and information from 3DScenegraph to extend datasets support (#385, #393, #406, #407)
First part of Sensor API redesign: extract out visual parts of Sensor into VisualSensor (#432), refactor RenderCamera to inherit from MagnumCamera (#422)
Integrated clang-tidy to improve C++ coding practices, prevent memory leaks and bugs with multiple checks (#324, #340, #342, #344, #359, #349, #372, #408)
Implemented FPS counter using imgui to make performance improvement work easier (#355)
Saved 25% of memory usage on vertex position buffer (PTex Mesh) (#348)
Added preliminary support of continuous documentation build, added Resource manager docs (#379, #382, #360)
Improved JS testing framework: setup Visual Regression Testing (#387)
Added test coverage measurement and uploading to codecov for C++, Python, JavaScript (#314, #365, #383)
TypeScript support for JavaScript build(#411)
Added initial support for object navigation task in JavaScript (#307)

Other improvements and bug fixes:

Community contributors: @NicoGrande, @amoudgl.

Assets 2

14 Oct 17:31

mathfac

v0.1.3

Import objects from a library (e.g. YCB dataset, Wayfair, or Ikea furniture models) and programmatic scene construction (“add this chair here”) (#91, #248)
Kinematic control of instanced rigid object (#91, #211)
Preliminary rigid body physics via Bullet physics engine (apply forces/torques, check for collisions, etc) (#91, #178, #188, #211, #231, #227, #213)
High-resolution Replica model rendering with high dynamic range (HDR) textures (#116, #190, #196, #198, #203, #221, #225, #244, #280, #281)
Habitat browser build: WebGL and JavaScript API (#133, #142, #147, #148, #153, #168, #172, #224, #228, #278, #279)
Realistic noise models: PyRobot actuation noise (#89)
GPU-GPU memory sharing with PyTorch integration (#114)
Documentation system improvements (#71, #185, #209, #252)
Preliminary VR support (#230)
Performance enhancements: moving to magnum types instead of numpy (#107)

Other improvements and bug fixes:

pybind11 integration for SceneGraph & related magnum objects (#64)
Improved imports for bindings (#186, #105)
Progress towards convert custom shader logic to use Magnum shader API (#116, #150, #164, #151)
CI improvements: added JS bindings build step, added C++ tests to CI , added ccache, fixed PyTorch caching, check of test data installed, pre-commit, added isort-seed, changed CI black and isort (#166, #110, #113, #155, #160)
Support loading “empty” scene with no scene mesh and allow semantic rendering for scenes without semantic annotations and “empty” scenes (#208)
Support no sensors (#85) and sensors of different resolution (#114)
Improved error logging from the build shell scripts. (#156, #159, #174)
Added registries to Habitat simulator python side (#204)
Renamed lookLeft/Right to turnLeft/Right (#269)