v0.2.4

Major features and improvements:

• Deprecation of OMPL and SLAM by @vincentpierre and @rpartsey in #1075, #1097 and #1193
• Added several omegaconf configurations to our public API and documented them by @vincentpierre in #1101
• Changes to high level policies training by @ASzot in #1053
• Added Humanoids to Habitat by @xavierpuigf in #1165
• Added Spot robot configuration by @jimmytyyang in #1177
• Changed our contribution guidelines and pull request templates by @vincentpierre in #1175
• Added Objectnav dataset for HM3DSem v0.2 by @srama2512 in #1185
• Added instanceImageNav HM3D dataset v0.3 by @jacobkrantz in #1186
• pip installable habitat-lab changes by @rpartsey in #1187, #1221, #1224, #1229
• New Agent abstraction in trainers by @ASzot in #1169
• Upgrade to python version 3.9 by @vincentpierre in #1198

Other improvements and bug fixes:

• Update a dataset URL in the Readme by @dhruvbatra in #1039
• Fix field of view issue by @jimmytyyang in #1048
• Update instructions of interactive testing by @akshararai in #1054
• Conda update on CI by @0mdc in #1052
• Fix version of toml in CI by @vincentpierre in #1063
• New visualization tutorial by @rpartsey in #1037
• Bugfix on topdown map drawing by @jimmytyyang in #1060
• Refactor of debug visualization by @vincentpierre in #1064
• Allow topdown map for multi-agent environments by @vincentpierre in #1072
• Fix speed regression in rearrangement tasks by @ASzot in #1085
• Small updates post hydra migration by @rpartsey in #1088
• Making read_write on omegaconf part of the public API by @vincentpierre in #1090
• Adding documentation on DatasetConfig omegaconf by @vincentpierre in #1091
• Better error handling when loading checkpoints by @vincentpierre in #1094
• Moving all gym files into a dedicated gym folder for better separation by @vincentpierre in #1095
• Fixing import bug for torch by @vincentpierre in #1106
• Bump isort version in CI by @0mdc in #1107
• Bump black version in CI and pre-commit by @aclegg3 in #1110 and #1113
• Removed unused line by @jimmytyyang in #1104
• Performance improvements (~20%) on habitat-lab by @vincentpierre in #1120
• Documenting HABITAT_ENV_DEBUG environment variable by @vincentpierre in #1127
• Refactoring code to unlock all of hydra with submitit functionalities by @vincentpierre in #1128
• Add flaky to some pytests to make them more robust by @aclegg3 in #1131
• Documenting some of the most useful configuration keys for navigation by @vincentpierre in #1111
• Added velocity control to the default configurations by @luisenp in #1119
• CI fix with pytest version by @vincentpierre in #1141
• Documenting some of the most useful configuration keys for rearrangement by @vincentpierre in #1126
• Fix tutorials configuration paths by @dhruvbatra in #1065
• Fix on depth image normalization by @vincentpierre in #1152
• Faster loading of habitat module by @vincentpierre in #1144 and #1157
• Test for speed performance of simulation on CI by @vincentpierre in #1114
• Gym API support enhancements by @rpartsey in #1145
• Renaming of agents to be more general by @xavierpuigf in #1150
• Bug fix on instanceImageNav distance viewpoint threshold by @Ram81 in #1130
• Optimized a list comprehension by @Skylion007 in #1168
• Documentation change by @rpartsey in #1167
• CI change replace assets if already present by @jimmytyyang in #1179
• Rename Robots to Articulated Agents by @xavierpuigf in #1176
• Moved from attr.s to dataclass by @rpartsey in #1182
• Bug fix on accumulated force metric by @jimmytyyang in #1194
• Fix Humanoid armature by @xavierpuigf in #1195
• Update torch dependency version by @rpartsey in #1197
• Fix loading of DD-PPO checkpoints by @rpartsey in #1116
• TriangleMeshReceptacles and RearrangeGenerator improvements by @aclegg3 in #1108
• Fix typing issue in receptacles.py by @0mdc in #1203
• PDDL system upgrade by @ASzot in #1190
• Fix of humanoid controller by @xavierpuigf in #1202
• New grasp action for Spot and Stretch robot by @jimmytyyang in #1208
• Bug fix in rearrangement generator by @aclegg3 in #1220
• Fixes for HRL trainer by @ASzot in #1209

New Contributors

• @luisenp made their first contribution in #1119

Full Changelog: v0.2.3...v0.2.4