Habitat-Sim Files

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 https://github.com/facebookresearch/habitat-sim/pull/2451

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

• [bugfix] - raycast buffer distance by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/2466

Added MarkerSets support in configuration and API:

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

ArticulatedObject API improvements:

• Added ManagedObject.is_articulated property:

• --[BE] - Add utility function to specify whether object is ao or not by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2416

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

• --[Bugfix] - Compute AO cumulative bbox on creation unconditionally. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2420

• ManagedObject.getAabb() by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/2421

• Added ManagedArticulatedObject.link_ids_to_object_ids

• add ManagedArticulatedObject attribute for link_id to object_id map by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/2410

Other Changes and Bugfixes:

• Set node object IDs for articulated object links. by @0mdc in https://github.com/facebookresearch/habitat-sim/pull/2376
• --Provide an object's origin location in the world, uncorrected by any possible COM displacement. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2385
• Add instance metadata to gfx-replay. by @0mdc in https://github.com/facebookresearch/habitat-sim/pull/2377

Magnum Updates:

• Update Magnum for ASCII PLY import and artifact-free text rendering by @mosra in https://github.com/facebookresearch/habitat-sim/pull/2355
• Update Corrade and Magnum with changes for Python stub generation by @mosra in https://github.com/facebookresearch/habitat-sim/pull/2408
• --Update Corrade for no strict aliasing flag. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2426

Documentation:

• Update AI-2Thor hab links in DATASETS.md by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/2354
• [data] update dataset_downloader.py with replica_cad rearrange dataset v2 by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/2381

Attributes and Configs:

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

CI:

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

Other:

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

Full Changelog: https://github.com/facebookresearch/habitat-sim/compare/v0.3.1...v0.3.2