Releases · facebookresearch/habitat-sim

18 Sep 00:13

aclegg3

v0.1.6

781f787

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

Assets 2

28 May 02:52

mathfac

v0.1.5

020041d

v0.1.5

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

Assets 2

21 Jan 23:57

mathfac

v0.1.4

d87fce6

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:

PhysicsManager CHECK cleanup (#305)
Fix tryStep edge cases (#350)
Fix CORRAD_ASSERT in PTexMeshData (#363)
Remove zero area polys (#371)
Bullet margin fix and Aabb query (#399)
Prevent arrow keys from scrolling (#296)
Get semantic render working again (#299)
Bug fix: add "reshape" functionality to utility viewer (#322)
Fix action space path (#346)
Blit from frameBuffer to defaultFrameBuffer viewport (#304)
Trigger event listener for keys at capturing phase (#308)
Refactor PhysicsTest.cpp: add PhysicsManagerTest feature (#397)
Allow agent reference to be kept (#313)
Fix seeding to work as desired (#433)
Removed redundant loop (#326)

Corresponding Habitat-API v0.1.4 release.

Community contributors: @NicoGrande, @amoudgl.

Assets 2

14 Oct 17:31

mathfac

v0.1.3

9129fb2

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)