Habitat-Lab Files

Major features and improvements

• Human in the Loop (HITL) Application: client/server architecture for real human interaction with simulated robots and environments
• Reorganize the HITL framework as a new habitat-hitl package by @eundersander in https://github.com/facebookresearch/habitat-lab/pull/1754
• Remote VR HITL Evaluation by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1731
• Clean-up and fixes by @eundersander and @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1738, https://github.com/facebookresearch/habitat-lab/pull/1766, https://github.com/facebookresearch/habitat-lab/pull/1771, https://github.com/facebookresearch/habitat-lab/pull/1777, https://github.com/facebookresearch/habitat-lab/pull/1788, https://github.com/facebookresearch/habitat-lab/pull/1789, https://github.com/facebookresearch/habitat-lab/pull/1795, https://github.com/facebookresearch/habitat-lab/pull/1802, https://github.com/facebookresearch/habitat-lab/pull/1849, https://github.com/facebookresearch/habitat-lab/pull/1848, https://github.com/facebookresearch/habitat-lab/pull/1800, https://github.com/facebookresearch/habitat-lab/pull/1837, https://github.com/facebookresearch/habitat-lab/pull/1852
• Migrate HITL apps away from command-line args and to Hydra config yaml files by @eundersander in https://github.com/facebookresearch/habitat-lab/pull/1745
• Support for headless HITL apps by @eundersander and @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1768, https://github.com/facebookresearch/habitat-lab/pull/1794, https://github.com/facebookresearch/habitat-lab/pull/1792
• server-side helpers to measure client latency by @eundersander in https://github.com/facebookresearch/habitat-lab/pull/1796
• rearrange_v2 example app and other features/fixes for Feb 12 demo by @eundersander in https://github.com/facebookresearch/habitat-lab/pull/1810, https://github.com/facebookresearch/habitat-lab/pull/1830
• Add camera sync support. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1811
• Make skinning support optional. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1791
• GUI-controlled Spot and local multi-user support by @eundersander in https://github.com/facebookresearch/habitat-lab/pull/1831
• Remote keyboard input redirection. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1853

• Add GUI rendering wrapper. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1838

• New Simulator utility functions: quality of life wrappers and prepositional logic functions

• Object "getter" wrapper utils to sim_utilities by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1816
• "Above" set query util by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1817
• "Within" set query util by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1819
• "Ontop" utility by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1835
• "on_floor" query util by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1841

• Region containment query utils by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1820

• Improved DebugVisualizer Util: get images of the world from within breakpoint() and other debugging scenarios

• DebugVisualizer Update by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1775

• DebugVisualizer generic 'peek' function by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1834

• Spot robot support changes for sim2real deployment:

• Spot Mobile Gaze Training Code by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/1647, https://github.com/facebookresearch/habitat-lab/pull/1691
• Spot social nav by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/1658

• add jaw camera by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/1856

• Documentation updates:

• Expose all habitat-lab API docs by @henrysamer in https://github.com/facebookresearch/habitat-lab/pull/1779, https://github.com/facebookresearch/habitat-lab/pull/1736
• Add Humanoid + ArticulatedAgent tutorials by @xavierpuigf and @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1765
• Social nav README by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/1699, https://github.com/facebookresearch/habitat-lab/pull/1860
• Humanoid details (convert SMPL-X to humanoid motions) by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1703, https://github.com/facebookresearch/habitat-lab/pull/1720
• Troubleshooting Common Problems readme by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1734
• Improving PDDL Docs by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/1784
• Deprecate colabs in favor of Jupyter notebooks by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1742
• Update README.md by @dhruvbatra in https://github.com/facebookresearch/habitat-lab/pull/1690, https://github.com/facebookresearch/habitat-lab/pull/1693

Other changes and bugfixes

• Update indices humanoid by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1657
• Fix Spot-floating bug by @rpartsey in https://github.com/facebookresearch/habitat-lab/pull/1661
• query attr filepath if available to find AO rec meshes by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1669
• [BE] Fix the env pause issue by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/1744
• [BE] Make key as string by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/1764
• Add habitat_hitl.disable_agents_and_stepping config param by @eundersander in https://github.com/facebookresearch/habitat-lab/pull/1769
• Fixed config habitat_hitl.episodes_filter='4' and episodes_filter episode order by @henrysamer in https://github.com/facebookresearch/habitat-lab/pull/1772
• (1) Fixed error when using config habitat_hitl.episodes_filter='4' (2) Fixed episodes_filter episode order not respected (3) added check for data folder in current working directory by @henrysamer in https://github.com/facebookresearch/habitat-lab/pull/1774
• Adapt to Magnum Python bindings update by @mosra in https://github.com/facebookresearch/habitat-lab/pull/1776
• correction2 of type-cast when self._hitl_config.episodes_filter==None by @henrysamer in https://github.com/facebookresearch/habitat-lab/pull/1780
• Remove RTLD_GLOBAL flag from apps. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1783
• Use receptacle unique name for dictionary key by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1782
• -- Change ints to float in sensor spec position and orientation by @jturner65 in https://github.com/facebookresearch/habitat-lab/pull/1793
• Correct object initialization by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1806
• [bugfix] - minor generator fixes by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1814
• --Test fixes to support semantic sensor updates by @jturner65 in https://github.com/facebookresearch/habitat-lab/pull/1801

• --Address regression and missing stage_id checks by @jturner65 in https://github.com/facebookresearch/habitat-lab/pull/1822

• [3.1] Fix missing org name changes. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1850

• [3.1] Fix assorted typos in user-facing files. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1851
• Fix agent GPS compass key in multi-agent README by @gchhablani in https://github.com/facebookresearch/habitat-lab/pull/1844

New Contributors

• @henrysamer made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/1736
• @gchhablani made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/1844

Full Changelog: https://github.com/facebookresearch/habitat-lab/compare/v0.3.0...v0.3.1