Release v0.3.2 · facebookresearch/habitat-sim

Major features and improvements:

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

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

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

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