Major features and improvements:

Simulator.reset() now resets objects to their original state (from scene instance, or zero init):

• Expanded reset logic for Simulator by @aclegg3 in #2451

Improved accuracy of raycasting by buffering for within-margin "ghost" hits:

• [bugfix] - raycast buffer distance by @aclegg3 in #2466

Added MarkerSets support in configuration and API:

• --Support marker set specifications in Object, Stage and AO config jsons by @jturner65 in #2368
• --MarkerSets assignment to objects, 'interface' class and bindings by @jturner65 in #2371
• --Convenience functions for accessing markers in local and world space by @jturner65 in #2389
• --[BUGFIX] - Revert markerset subconfig removals; Don't write empty configs to file by @jturner65 in #2435
• --[BUGFIX] Make sure empty Markerset subconfigs are removed when appropriate by @jturner65 in #2434
• --[BugFix] - Handle transformations of points assigned to an AO's baselink by @jturner65 in #2444
• --MarkerSets assignment to objects, 'interface' class and bindings by @jturner65 in #2371

ArticulatedObject API improvements:

• Added ManagedObject.is_articulated property:

  • --[BE] - Add utility function to specify whether object is ao or not by @jturner65 in #2416

• Added ManagedArticulatedObject.aabb with AABB auto-update API:

  • --[Bugfix] - Compute AO cumulative bbox on creation unconditionally. by @jturner65 in #2420
  • ManagedObject.getAabb() by @aclegg3 in #2421

• Added ManagedArticulatedObject.link_ids_to_object_ids

  • add ManagedArticulatedObject attribute for link_id to object_id map by @aclegg3 in #2410

Other Changes and Bugfixes:

• Set node object IDs for articulated object links. by @0mdc in #2376
• --Provide an object's origin location in the world, uncorrected by any possible COM displacement. by @jturner65 in #2385
• Add instance metadata to gfx-replay. by @0mdc in #2377

Magnum Updates:

• Update Magnum for ASCII PLY import and artifact-free text rendering by @mosra in #2355
• Update Corrade and Magnum with changes for Python stub generation by @mosra in #2408
• --Update Corrade for no strict aliasing flag. by @jturner65 in #2426

Documentation:

• Update AI-2Thor hab links in DATASETS.md by @aclegg3 in #2354
• [data] update dataset_downloader.py with replica_cad rearrange dataset v2 by @aclegg3 in #2381

Attributes and Configs:

• --ConfigValue Updates - Matrix4 support, pointer-backed data store. Rev 2.0 by @jturner65 in #2369
• --Expose Attributes save functionality to python; cleanup/improve attribute registration. by @jturner65 in #2345
• --Configuration : Add ability to handle vectors of fields within subconfigs by @jturner65 in #2394
• --Configurations : Expand and unify vector/array-backed value handling by @jturner65 in #239
• --[BE] - Refactor/cleanup attributes and attributes managers by @jturner65 in #2461

CI:

• [CI] - fix mypy on CI by @aclegg3 in #2356
• [CI] fix pip install by @aclegg3 in #2391
• [CI] - Disable new clone protection for git lfs by @aclegg3 in #2397
• [CI] - add lab ci asset downloads by @aclegg3 in #2399
• [CI][conda] - Update conda build docker to centos8 by @aclegg3 in #2427
• --[CI BugFix] -Change circle CI mac conda install from intel mac to m1. by @jturner65 in #2445
• --[CI] - Modify ubuntu image to dodge brownout/deprecation by @jturner65 in #2474

Other:

• Remove RTLD_GLOBAL flag from apps. by @0mdc in #2312
• Revert "Remove RTLD_GLOBAL flag from apps. (#2312) by @0mdc in #2342
• -- Articulated Object creation restructuring by @jturner65 in #2359
• [dependency update] [deprecation] Upgrade numpy to 1.26.4 and remove data_extractor utility by @aclegg3 in #2362
• Avoid setting CUDA device when there is no GPU. by @0mdc in #2378
• --Properly initialize std::vector member variable to be correct size by @jturner65 in #2388
• --Move AssetType enum class attributes namespace by @jturner65 in #2386
• --Add Configuration State Flags - Part 1 by @jturner65 in #2396
• --Add Configuration State Flags - Part 2 (Hidden file path fields) by @jturner65 in #2398
• [bugfix] - reorder Configuration setter bindings by @aclegg3 in #2401
• --Bugfix : Expand absolute-to-relative filepath mapping rigor by @jturner65 in #2400
• Update minimum scipy version. by @0mdc in #2403
• --[BUGFIX] - Properly set instance user config from base passed base config. by @jturner65 in #2407
• --[BE] - Remove deprecated Sim-level contact test by @jturner65 in #2417
• --[BE] - Duplicate existing rigid or articulated object by @jturner65 in #2418
• --[BE] Fix issues with bindings exposed by pybind11-stubgen by @jturner65 in #2430
• --[WIP][Bugfix]- Address remaining issues with bindings stubgen by @jturner65 in #2432
• --m.css updates by @jturner65 in #2455
• --Update/cleanup gitignore by @jturner65 in #2458
• [doc] - fixes docstring format for get_weighted_regions_for_point by @aclegg3 in #2459

Full Changelog: v0.3.1...v0.3.2

See v0.1.7.

Major features and improvements:

• Semantic Region Support: define 2d polyloops with height extrusion to represent and query rooms/regions in a scene:

  • Initial implementation and metadata support by @jturner65 in #2299 and #2307
  • Region Query API (w/ Python bindings) by @aclegg3 in #2317 and by @jturner65 in #2336

• Render skinned meshes with PBR shader by @jturner65 in #2204

• Add Panoptic/Instance ID support to Semantic sensor by @jturner65 in #2316

• Activate objects when moved by @aclegg3 in #2314

• Expose ArticulatedObject creation_attributes by @aclegg3 in #2259

• Define constant and bindings for stage ID by @jturner65 in #2325

• Deprecate colabs (in favor of local Jupyter notebooks) by @aclegg3 in #2298

• Docs cleanup and improvements by various authors in #2238, #2267, #2268, #2275, #2283, #2285, #2281, #2292

• Update Magnum submodule by @mosra in #2243, #2278, #2309, #2322

Other Changes and Bugfixes

• Fix rigs not being deleted from the recorder. by @0mdc in #2251
• Set the default fallback material as Phong. by @0mdc in #2262
• --Update reference to deprecated Magnum 'angle' function by @jturner65 in #2264
• Correct HSSD public repo to un-authenticated by @aclegg3 in #2261
• --[BE Week] Update projection matrix near/far plane calcs by @jturner65 in #2276
• --[BE Week] Better Attributes Handle search efficiency; Viewer.cpp/Viewer.py text render fixes by @jturner65 in #2279
• Minor fix in python viewer. by @0mdc in #2282
• Fix typos in top-level files and tools. by @0mdc in #2284
• Change default python viewer dataset to 'default'. by @0mdc in #2287
• [ci] - new website key by @aclegg3 in #2294
• --[BE Week] Articulated Object Loading refactors and cleanup by @jturner65 in #2291
• [CI] - Add hm3d example scenes to ci test assets by @aclegg3 in #2303
• --Object/AO creation refactor and Object/AO Instance save/creation by @jturner65 in #2315
• Get ycb dataset from main branch by @aclegg3 in #2320
• Add max decimal place option to recorder. by @0mdc in #2319
• Ability to render the viewer content at quarter resolution on very-high-DPI screens by @mosra in #2321
• --[CI Fix] Fix miniconda versions by @jturner65 in #2334
• --Minor fixes and improvements by @jturner65 in #2333
• bump the version to 0.3.1 by @aclegg3 in #2339

Full Changelog: v0.3.0...v0.3.1

Major features and improvements:

• Rendering: PBR/IBL/HBAO
  • --Implementation of Nvidia's HBAO effect (soft shadows in corners and crevices) via Magnum by @jturner65 in #2192
  • --PBR/IBL Configuration and customization by @jturner65 in #2155
• Skinned ArticulatedObjects:
  • Add skinning support for gfx-replay and legacy replay rendering. by @0mdc in #2120
• More accurate get_random_navigable_point_near by @aclegg3 in #2221

Other Changes:

• --Attributes/Managers Maintenance : Separate Monolithic ObjectAttributes; Remove unnecessary abstract method; Build JSON From String by @jturner65 in #2177
• --[BUGFIX] Background renderer should not create extra contexts by @jturner65 in #2180
• Disable broken JS test and make --no-web-apps the default by @eundersander in #2179
• --[BugFix] GibsonSemanticScene JSON access. by @jturner65 in #2181
• --[BugFix] Get rid of double JSON lookups using HasMember by @jturner65 in #2182
• --Articulated Object Attributes/Managers support by @jturner65 in #2178
• [BE] - remove dummy sceneId from the API by @aclegg3 in #2186
• --[Bugfix] Add new fields to test asset skinned_prism.ao_config.json. by @jturner65 in #2188
• [BE] - Error messages for physics specific API calls without implementation by @aclegg3 in #2187
• Fixed bug for directories containing spaces by @vishneshjr in #2176
• Update README.md by @dhruvbatra in #1410
• --[BE/Bugfix]Modify creation of Articulated Object from URDF file name. by @jturner65 in #2190
• --[BE/Bugfix] Early Bullet/Physics enabled check; C test fixes for no-bullet; Python enable_physics default change if no_bullet by @jturner65 in #2189
• [docs] Add details for getting hssd from datasets_downloader by @aclegg3 in #2193
• Add option to toggle frustum culling in replay renderer. by @0mdc in #2199
• [CI] - add spot robot assets to CI test set by @aclegg3 in #2201
• --[Habitat3.0] Removal of out-of-date/deprecated flags for IBL by @jturner65 in #2203
• Add humanoids to gitignore. by @0mdc in #2209
• Update JS build doc. by @0mdc in #2162
• --Add benchmarking for HBAO effect. by @jturner65 in #2212
• --Address HBAO image transparency oddness; remove unused variable. by @jturner65 in #2214
• --[BUGFIX] -Ellipses in paths by @jturner65 in #2218
• Bugfix: Some objects have invalid scales when replay rendering by @0mdc in #2200
• --[BE/Bugfix]properly handle multiple sequential ellipses by @jturner65 in #2219
• Fix wrong instance structures in replay renderer test. by @0mdc in #2220
• Add replay renderer flag to enable HBAO. by @0mdc in #2223
• [CI] - resource class update by @aclegg3 in #2225
• --[Bugfix/Refactor]-PBR Skin Rendering Prep/Bugfixes. by @jturner65 in #2222
• New HF Dataset Download by @ASzot in #2232
• --[BUGFIX] Minor bugfixes by @jturner65 in #2233
• hab3_bench_assets datasource by @aclegg3 in #2234
• --PBR Primitive support and gl context bugfix by @jturner65 in #2235
• --Documentation for ArticulatedObjectAttributes and PbrShaderAttributes and JSON configurations. by @jturner65 in #2237
• update version tags to v0.3.0 by @aclegg3 in #2236

New Contributors

• @vishneshjr made their first contribution in #2176

Full Changelog: v0.2.5...v0.3.0

Major features and improvements:

• Improved PBR rendering by @jturner65

  • --Convert materials to use magnum materials. by @jturner65 in #2083
  • --[PBR Update 0 of 3] Add python binding to enable IBL. by @jturner65 in #2113
  • --[PBR Update 1 of 3] Map materials' extension/layer data to Drawables cache by @jturner65 in #2112
  • --[PBR Update 2 of 3] PBR rewrite-motivated default lighting and IBL fix/reworking by @jturner65 in #2119
  • --[PBR part 3 of 3]Map KHR Extensions to PBRDrawables and Implement in Shader by @jturner65 in #2091

• [breaking] - NavMeshSettings refactor by @aclegg3 in #2111 #2124

• Upgrade Bullet to 3.2.5. by @0mdc in #2149

• Articulated object skinning by @0mdc in #2076

• Articulated object semantics by @0mdc in #2086

• Update to latest Magnum submodules by @mosra in #2066 #2073 #2100 #2114 #2123

  • additional magnum importer plugins in python build dependencies by @aclegg3 in #2105
  • [logging] - set Magnum importer and converter Quiet flags by @aclegg3 in #2115

• Add intertiaFromURDF option to URDF loading API by @aclegg3 in #2098

• [BE week] - huggingface repo support for datasets_download.py by @aclegg3 in #2130

• Adds HSSD to dataset downloader by @mukulkhanna in #2163

Other improvements and bug fixes:

Bugfixes

• bugfix for setArticulatedObjectModelFilename causing garbage log output by @eundersander in #2053
• Fix viewer.py framebuffer size mismatch. by @0mdc in #2055
• [bugfix]: cylinder primitive collision shape did not use halflength by @aclegg3 in #2060
• --[BugFix]Testing disabled renderer in simtest should only happen 1 time by @jturner65 in #2065
• --(Bugfix) Fix normal transformation calc and address backface culling in case of negative scaling/reflections by @jturner65 in #2062
• --Address inappropriate bitflag check; add vertexID flag to PBR shader by @jturner65 in #2090
• --[BUGFIX] Reverse directional lights before sending to uniform; by @jturner65 in #2094
• --[BUGFIX] Single channel texture support by @jturner65 in #2102
• bugfix: decrease minimum required GL version for most shaders by @Skylion007 in #2117
• --[BUGFIX]Fix missing tags in views in viewer.py by @jturner65 in #2153

CI, Code Quality, docs

• --Have pre-commit use node version compatible with Ubuntu 18.04 by @jturner65 in #2058
• Add runtime perf stats for troubleshooting perf problems by @eundersander in #2070
• [CI] - Add daily re-caching and log dependency state for pip and conda by @aclegg3 in #2107
• [doc] geo bindings docs update by @aclegg3 in #2110
• chore: typing - make optionals explicit by @Skylion007 in #2118
• [BE week] - Remove VHACD integration by @aclegg3 in #2128
• Fix clang tidy warning and typos. by @0mdc in #2131
• Fix clang-tidy issue with PbrDrawable typo fixes. by @0mdc in #2133
• Update openexr to 3.1.8 by @0mdc in #2132
• --[BE Week] Remove ptex support by @jturner65 in #2137
• --[BE Week] Minimize logging spam by @jturner65 in #2140
• Fix conda build CI issue with git commands. by @0mdc in #2146
• Bump isort to 5.12.0. by @0mdc in #2150
• [CI] - fix doxygen version at 1.9.5 by @aclegg3 in #2159
• [BE Week] Add Ruff pre-commit hook by @Skylion007 in #2156
• Update pybind11 to v2.11.1 by @Skylion007 in #2166

Batched Renderer and GFX Replay

• BatchReplayRenderer: skip unsupported 3D primitives by @eundersander in #2054
• Gfx-replay polish: workaround for material-overrides; new keyframe getter by @eundersander in #2035
• Replay renderer: add line-rendering and unproject() by @eundersander in #2057
• Fix to remove reflection for gfx-replay recording by @eundersander in #2085
• enable frustum-culling for classic replay renderer by @eundersander in #2096
• GPU-to-CPU batch renderer API to render color and depth sensors into images. by @0mdc in #2044
• Add depth unprojection support to batch renderer by @0mdc in #2129
• Replay renderer partial deletion by @0mdc in #2136
• Add close() to replay renderer to allow for explicit resource release. by @0mdc in #2145

Other

• --Refactor Semantic Mesh loading/flattening to remove deprecated functionality and improve efficiency by @jturner65 in #2079
• --Add access to Scene Instance-level user defined attributes. by @jturner65 in #2081
• --Don't make needless copy of scene instance attributes when retrieving user defined values by @jturner65 in #2082
• enable recompute_navmesh when creating sim with create_renderer==false by @eundersander in #2097
• ReplicaCAD v1.6 by @aclegg3 in #1783
• Adds HSSD (Habitat Synthetic Scene Dataset) and AI2THOR-hab dataset info by @mukulkhanna in #2103
• --[BE Week]Set lighting if loading an AO to match scene lighting. by @jturner65 in #2138
• --[BE Week]Remove shadowmanager/variance shadow map code by @jturner65 in #2139
• --[BE Week]Minor Lighting-related refactoring by @jturner65 in #2148
• --[BE Week]More informative and appropriate data/metadata load and processing messages by @jturner65 in #2144
• --[BE Week]Remove files no longer used without Variance Shadow Maps by @jturner65 in #2154
• add clear_color to settings for rgb sensor initialization by @aclegg3 in #2161
• version bump v0.2.5 by @aclegg3 in #2168

New Contributors

• @mukulkhanna made their first contribution in #2103

Full Changelog: v0.2.4...v0.2.5

v0.2.4

Major features and improvements:

• Upgrade python to 3.9 by @0mdc in #2030
• Better Camera unproject by @aclegg3 in #2001
• MultiGoalShortestPath improvements by @aclegg3 in #2014
• Don't default to joined collision objects by @aclegg3 in #2021
• Coordinate system tutorial by @rpartsey in #2009
• Update to latest Magnum with: full skinning support, MeshData Python bindings, new MaterialTools, improved glTF import/export, and much more by @mosra in #1968 #1999 #2015 #2032
• Configuration support for Magnum Vector2, Vector4, Color3 and Color4, UserDefinedAttr support of str Lists by @jturner65 in #2028
• Update pybind11 to v2.10.4 by @Skylion007 in #1974 #2051

Other improvements and bug fixes:

Bugfixes

• Ray distance scaling fix by @aclegg3 in #2022
• Fix color overflow in get_island_colored_map by @aclegg3 in #2024
• Fix baselines installation in colab_install.sh by @rpartsey in #1966
• Update magnum-bindings for MeshData fix on py3.7 by @aclegg3 in #2003
• Fix dataset download re-linking by @rpartsey in #1989
• Remove file being written by test by @jturner65 in #2013

Batched Renderer and GFX Replay

• Decouple gfx-replay player from scene graph; integrate the batch renderer into it by @0mdc in #1947
• Batch renderer integration into Python viewer. by @0mdc in #1964
• Gfx-replay: Record scene graph deletions. by @0mdc in #1975
• Clear replay renderer when all instances are deleted. by @0mdc in #1976
• Lighting support in the batch renderer by @mosra in #1970
• Add replay renderer bindings to get CUDA device pointers. by @0mdc in #2011
• Allow the batch renderer to draw empty scenes. by @0mdc in #2019
• Disable sim sensors when using the batch renderer. by @0mdc in #2031
• Add more rigorous context checks when creating classic replay renderer. by @0mdc in #2041
• Fix standalone batch renderer context deletion. by @0mdc in #2043

CI

• Fix Pytorch-CUDA dependency on CI. by @0mdc in #1973
• Fix Miniconda installation on CI. by @0mdc in #1977
• Pin toml-sort version to fix pre-commit issue on CI. by @0mdc in #1983
• Bump black and isort. by @0mdc in #2000
• Pin patchelf version on CI. by @0mdc in #2017
• Fix flake8 errors. by @0mdc in #2039

Other

• Update DATASETS.md by @dhruvbatra in #1985
• Add HM3DSem category mappings file by @srama2512 in #2004
• Add Human Armature into Downloader by @xavierpuigf in #2016
• Fixed colab tutorial links by @rpartsey in #2020
• Update Spot mesh by @jimmytyyang in #2023
• Receptacle test assets by @aclegg3 in #1994
• Add python binding to render color sensors into CPU images. by @0mdc in #2029
• Add .idea to gitignore. by @0mdc in #2038

New Contributors

• @rpartsey made their first contribution in #1966
• @xavierpuigf made their first contribution in #2016

Full Changelog: v0.2.3...v0.2.4

v0.2.4 rc1

Major features and improvements:

• Nav module improvements by @aclegg3:
  • NavMesh islands added to API in #1866
  • islands topdown map in #1903
  • NavMeshSettings JSON serialization in #1883
  • improved documentation in #1850
• Batched Renderer prototype by @mosra and @0mdc in #1904 ,#1798, #1874, #1961
• Add rolling and spinning friction coefficient parameters by @aclegg3 in #1845
• Document SceneDataset JSON config system by @aclegg3 in #1863
• Added settings.py to habitat_sim.utils by @jaraujo98 and @aclegg3 in #1832, #1879, #1949
• Robots module moved to Habitat-lab by @zachavis in #1790

Other improvements and bug fixes:

Datasets

• update to HM3D v0.2 by @aclegg3 in #1910, #1916, #1927
• add Franka download by @laikhtewari in #1837
• add Spot download by @jimmytyyang in #1885
• add Stretch download by @jimmytyyang in #1936
• updated Fetch assets by @ASzot in #1959

Bugfixes

• remove direct usage of hsim_bindings for audio and fix missing reexports by @Skylion007 in #1788
• viewer.py navmesh recompute skip for "none" scene by @aclegg3 in #1809
• Gfx-replay and JSON serialization fixes by @eundersander in #1758
• declare allocator in IOTest by @aclegg3 in #1816
• add mp3d_example scene dataset config to the tutorials by @aclegg3 in #1847
• minor fix to viewer text string creation for semantic labels by @aclegg3 in #1859
• remove an extra tmp copy of lightsetup in Simulator.cpp by @Skylion007 in #1867
• prevent unnecessary copies with more std::move and emplace by @Skylion007 in #1870
• support habitat-lab requirements.txt after split by @aclegg3 in #1890
• assorted fixes for more robust handling of asset corner cases by @mosra in #1915
• don't give up when encountering lines/points/... in collision mesh data by @mosra in #1888
• skip non-triangle mesh primitives in mesh join for navmesh recomputation by @aclegg3 in #1951

CI

• updating docs should wait until lab-build is complete by @aclegg3 in #1826
• fix nightly conda preserve_egg_dir by @aclegg3 in #1844
• fix ci pytorch cuda by @aclegg3 in #1946
• don't cache habitat-lab by @aclegg3 in #1952

Other

Documentation

• adding instructions on how to build docs by @vincentpierre in #1779
• update citation by @ChanganVR in #1787
• Documenting habitat test scenes and pointnav episodes by @srama2512 in #1821
• making README consistent with Habitat-Lab readme by @dhruvbatra in #1830
• Better colors for "info" and "success" notes in the documentation and website by @mosra in #1893
• changed header from facebook to meta platforms by @NakuraMino in #1913
• add comment blocks by @NakuraMino in #1917
• README updates in #1957, #1955, #1962

Corrade | Magnum

• update Corrade and Magnum with prefixed CMake options by @mosra in #1797
• update Magnum to latest & fix various minor buildsystem issues by @mosra in #1819
• update to Magnum with initial support for glTF export and CPU feature dispatch by @mosra in #1834
• update to Magnum with windowed EGL support; better static plugin linking for Python by @mosra in #1861
• allow GLX to still be used if EGL doesn't work for whatever reason by @mosra in #1877
• update Magnum submodules with support for querying MeshData size from Python by @mosra in #1878
• update Doxygen tagfiles and Python inventories for Corrade/Magnum doc crosslinking by @mosra in #1889
• update Magnum submodules to latest, fix AssimpImporter assertion by @mosra in #1911

Infra Improvements

• [mypy] - ignore erroneous type warning in new imageio version. by @aclegg3 in #1817
• update pybind11 to v2.10.0 by @Skylion007 in #1815
• add build info to pytest_report_header by @Skylion007 in #1806
• chore: optimize src/esp by removing temporaries by @Skylion007 in #1835
• hhore: Remove unnecessary casts from SensorSpec bindings by @Skylion007 in #1858
• refactor GfxReplayTest::testSimulatorIntegration by @0mdc in #1855
• random "header hygiene" cleanups by @mosra in #1880
• temporarily work around lost code coverage reports by @mosra in #1892
• better check of type before converting vector to quaternion by @vincentpierre in #1896
• update pybind11 to v2.10.1 by @Skylion007 in #1926
• (perf): Improve codebase by adding std::move on last use of object by @Skylion007 in #1930
• (perf): add another missing move in pathfinder by @Skylion007 in #1931
• chore: Add a few missing std::move to shared_ptr. by @Skylion007 in #1954
• serialize lights into gfx-replay json format. by @0mdc in #1857
• properly handle non-indexed collision meshes by @mosra in #1876
• update rlr-audio-propagation dependency to main by @aclegg3 in #1923

Viewer Application:

• port stage_requires_lighting arg to python viewer by @aclegg3 in #1807
• viewer py add magnum text by @jrreyna in #1862
• use Magnum's builtin text rendering instead of ImGui; expose it in Python by @mosra in #1853

New Contributors

• @zachavis made their first contribution in #1790
• @ChanganVR made their first contribution in #1787
• @laikhtewari made their first contribution in #1837
• @jaraujo98 made their first contribution in #1832
• @0mdc made their first contribution in #1855
• @jrreyna made their first contribution in #1862
• @jimmytyyang made their first contribution in #1885
• @NakuraMino made their first contribution in #1913

Full Changelog: v0.2.2...v0.2.3

v0.2.3 rc2

v0.2.3 rc1