v0.3.1

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 #1754
  • Remote VR HITL Evaluation by @0mdc in #1731
  • Clean-up and fixes by @eundersander and @0mdc in #1738, #1766, #1771, #1777, #1788, #1789, #1795, #1802, #1849, #1848, #1800, #1837, #1852
  • Migrate HITL apps away from command-line args and to Hydra config yaml files by @eundersander in #1745
  • Support for headless HITL apps by @eundersander and @0mdc in #1768, #1794, #1792
  • server-side helpers to measure client latency by @eundersander in #1796
  • rearrange_v2 example app and other features/fixes for Feb 12 demo by @eundersander in #1810, #1830
  • Add camera sync support. by @0mdc in #1811
  • Make skinning support optional. by @0mdc in #1791
  • GUI-controlled Spot and local multi-user support by @eundersander in #1831
  • Remote keyboard input redirection. by @0mdc in #1853
  • Add GUI rendering wrapper. by @0mdc in #1838

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

  • Object "getter" wrapper utils to sim_utilities by @aclegg3 in #1816
  • "Above" set query util by @aclegg3 in #1817
  • "Within" set query util by @aclegg3 in #1819
  • "Ontop" utility by @aclegg3 in #1835
  • "on_floor" query util by @aclegg3 in #1841
  • Region containment query utils by @aclegg3 in #1820

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

  • DebugVisualizer Update by @aclegg3 in #1775
  • DebugVisualizer generic 'peek' function by @aclegg3 in #1834

• Spot robot support changes for sim2real deployment:

  • Spot Mobile Gaze Training Code by @jimmytyyang in #1647, #1691
  • Spot social nav by @jimmytyyang in #1658
  • add jaw camera by @jimmytyyang in #1856

• Documentation updates:

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

Other changes and bugfixes

• Update indices humanoid by @xavierpuigf in #1657

• Fix Spot-floating bug by @rpartsey in #1661

• query attr filepath if available to find AO rec meshes by @aclegg3 in #1669

• [BE] Fix the env pause issue by @jimmytyyang in #1744

• [BE] Make key as string by @jimmytyyang in #1764

• Add habitat_hitl.disable_agents_and_stepping config param by @eundersander in #1769

• Fixed config habitat_hitl.episodes_filter='4' and episodes_filter episode order by @henrysamer in #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 #1774

• Adapt to Magnum Python bindings update by @mosra in #1776

• correction2 of type-cast when self._hitl_config.episodes_filter==None by @henrysamer in #1780

• Remove RTLD_GLOBAL flag from apps. by @0mdc in #1783

• Use receptacle unique name for dictionary key by @aclegg3 in #1782

• -- Change ints to float in sensor spec position and orientation by @jturner65 in #1793

• Correct object initialization by @xavierpuigf in #1806

• [bugfix] - minor generator fixes by @aclegg3 in #1814

• --Test fixes to support semantic sensor updates by @jturner65 in #1801

• --Address regression and missing stage_id checks by @jturner65 in #1822

• [3.1] Fix missing org name changes. by @0mdc in #1850

• [3.1] Fix assorted typos in user-facing files. by @0mdc in #1851

• Fix agent GPS compass key in multi-agent README by @gchhablani in #1844

New Contributors

• @henrysamer made their first contribution in #1736
• @gchhablani made their first contribution in #1844

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