Major features and improvements:

Simulation Utilities:

• ArticulatedLink Open/Close API by @aclegg3 in #1823
• default_link API and supporting changes by @aclegg3 in #1890
• "next_to" utility by @aclegg3 in #1871
  • refactor next_to to use vertical overlap and horizontal L2 by @aclegg3 in #1918
  • add vertical padding to next_to by @aclegg3 in #2014
• ObjectStateSpec, ObjectStateMachine base classes by @aclegg3 in #1842
• Better Receptacle filtering refactor by @aclegg3 in #1889
  • rec filter generic subset type parsing with option of "within_set" by @aclegg3 in #1916
• Kinematic Relationship Manager by @aclegg3 in #1909
  • Integrate KRM with RearrangeSim by @aclegg3 in #1927
  • [bugfix] - skip floor in KRM init by @aclegg3 in #1948
  • [BE] - KRM single parent refactor by @aclegg3 in #2004
  • [bugfix] - re-initialize the KRM from episode contents in rearrange_sim by @aclegg3 in #2064
• AnyObjectReceptacle by @aclegg3 in #1924
• sample points on the floor in a particular region by @aclegg3 in #1945
• Embodied Unoccluded Navmesh Snap util by @aclegg3 in #1949
  • add ignore ids to unoccluded snap API by @aclegg3 in #1947
• ManagedObject to Receptacle matching by @aclegg3 in #2074
• DebugVisualizer:
  • DebugVisualizer: equirect, removal/deconstruction, image matrix util, and unit test by @aclegg3 in #1978
  • DebuvVisualizer utility to show 3D points projected on dbv images by @aclegg3 in #1999
  • add debug_draw callback to DebugVisualizer by @aclegg3 in #2066

Other changes and bugfixes:

• refactor snap_down support_surface setup for AO links by @aclegg3 in #1946
• add receptacle filtering to rearrange_sim by @aclegg3 in #2053
• remove auto downloader from RearrangeDataset init by @aclegg3 in #1969
• RearrangeSim: Allow rigid objects to be collidable in kinematic mode by @aclegg3 in #1903
• Pass ao scaling through to scale the receptacle meshes also by @aclegg3 in #1881
• Predicate System Refactor by @ASzot in #1855
• guard against missing filter_type for backward compatability by @aclegg3 in #1941
• allow STATIC AOs in kinematic_mode by @aclegg3 in #1942
• unoccluded navmesh snap multiple ignores by @aclegg3 in #1943
• add ignore_object_ids to snap_down API by @aclegg3 in #1971
• refactor navmesh_utils SimpleVelocityControlEnv and de-duplicate by @aclegg3 in #1970
• [bugfix] - Fix a bug with snap_down on articulated links by @aclegg3 in #1982
• robustify snap_down: use the joined render and collision bounding boxes for the snap point by @aclegg3 in #2010
• Refactor to support expanded Simulator reset in RearrangeTask by @aclegg3 in #2018
• New function to generate humanoid walking motion by @xavierpuigf in #2067
• [BE] - receptacle support surface object ids by @aclegg3 in #2073
• [bugfix] in support surface selection and KRM hard failure by @aclegg3 in #2083
• rearrange_sim no navmesh caching by @aclegg3 in #2088
• [BE] - fix inconsistent base_rot property by @aclegg3 in #2085

Human in the Loop (HiTL) Improvements:

• Fix receptacle import when multiple importers are present. by @0mdc in #1869
• Handle null remote input. by @0mdc in #1866
• Change server camera sync config name. by @0mdc in #1867
• HITL: Add client message destination mask. by @0mdc in #1868
• Add statistics to stub HITL client. by @0mdc in #1864
• Add remote text rendering to HITL. by @0mdc in #1865
• HITL - Add remote mouse input support. by @0mdc in #1870
• HITL - Add typing for comms data dictionaries by @0mdc in #1874
• HITL - Change async network process loop. by @0mdc in #1875
• HITL - Support multiple remote inputs. by @0mdc in #1873
• HITL - Multiplayer GUI drawer. by @0mdc in #1876
• HITL - Remove interprocess semaphore. by @0mdc in #1878
• HITL - Add unit testing. by @0mdc in #1877
• HITL - Use GuiDrawer instead of debug line render. by @0mdc in #1879
• HITL - [Placeholder interface] Prevent placing objects when placement is impossible. by @0mdc in #1882
• HITL: Add remote mouse ray support. by @0mdc in #1891
• HITL - Fix left mouse click and draw box call. by @0mdc in #1894
• [Logging] Add data logger to rearrange_v2 app by @Ram81 in #1896
• [Task] Add Habitat-LLM episodes in rearrange_v2 app by @Ram81 in #1833
• HITL - Improve reliability and exception logging of network loop. by @0mdc in #1897
• HITL - Add line rendering, box rendering, push/pop transforms and circle normals. by @0mdc in #1898
• HITL - Clear mouse held buttons in remote client state. by @0mdc in #1899
• HITL - Add support for mouse position delta. by @0mdc in #1901
• HITL - Fix occasional crash in keyframe consolidation. by @0mdc in #1900
• HITL - Activate mouse look with middle mouse button. Adjust sensitivity. by @0mdc in #1902
• HITL - Check for any input to determine idleness. by @0mdc in #1907
• HITL - Automatically create output directories for recorder. by @0mdc in #1906
• HITL - Add an event system to track connections and disconnections. by @0mdc in #1905
• HITL - Mouse-based UI. by @0mdc in #1908
• HITL - Add configuration to control episode iterator by episode ID. by @0mdc in #1935
• HITL - Consolidate keyframe instance metadata. by @0mdc in #1934
• HITL - Allow empty user masks and add users to dependency injection container. by @0mdc in #1932
• HITL - Add S3 upload utility. by @0mdc in #1929
• HITL - Add mock connection parameter config for testing purposes. by @0mdc in #1930
• HITL - Add dedicated kick queue. by @0mdc in #1931
• HITL - Add collaboration episode loader. by @0mdc in #1933
• HITL - Move global world state into its own class + related bugfixes. by @0mdc in #1928
• Multiplayer HITL by @0mdc in #1939
• HITL - Disallow placing objects onto held objects. by @0mdc in #1951
• HITL - Add cross-process signal to toggle inflow of new connections. by @0mdc in #1953
• Allow selection of the next episode using an index. by @0mdc in #1952
• HITL - Make agents transparent to selection. by @0mdc in #1950
• [HITL] Add task config for single-learn data collection by @Ram81 in #1926
• HITL - Make client loading state available to applications. by @0mdc in #1955
• HITL - Add buttons and modal dialog boxes. by @0mdc in #1956
• HITL - Add configuration to enable new connections by default. by @0mdc in #1960
• HITL - Add textboxes. by @0mdc in #1957
• HITL - Add picture-in-picture viewports. by @0mdc in #1958
• HITL - Add object visbility handling and hide "self" in viewports. by @0mdc in #1959
• HITL - Rearrange State Machine by @0mdc in #1964
• HITL - Rearrange session handling by @0mdc in #1965
• HITL - Data collection by @0mdc in #1967
• HITL - Add end episode form and error reporting by @0mdc in #1968
• HITL - Decouple agents from users. by @0mdc in #1972
• HITL - Fix missing receptacle ids in place UI place events. by @0mdc in #1984
• HITL - Add missing sim type hints. by @0mdc in #1989
• HITL - Update rearrange_v2 configs. by @0mdc in #1986
• HITL - Synchronize UI with grasp manager. by @0mdc in #1988
• HITL - Change key enums. by @0mdc in #1985
• HITL - Simplify GuiApplication input handling. by @0mdc in #1983
• HITL - Networking improvements. by @0mdc in #2019
• HITL - Habitat LLM loader. by @0mdc in #2021
• HITL - Immediately end sessions when all users are disconnected. by @0mdc in #2025
• HITL - Add status API to availability server. by @0mdc in #2023
• HITL - Handle task metrics. by @0mdc in #2024
• HITL - Handle episode lists instead of ranges. by @0mdc in #2026
  HITL - Add region annotations. by @0mdc in #2031
• HITL - Draw highlight circles around visible pickable objects. by @0mdc in #2028
• HITL - Combine set_camera_transform() and show_viewport() APIs. by @0mdc in #2027
• HITL - Object outlining. by @0mdc in #2030
• HITL - Add object states and categories. by @0mdc in #2035
• HITL - Hide agents in the load screen. by @0mdc in #2037
• HITL - Networked UI system by @0mdc in #2041
• HITL - Add KRM to HITL. by @0mdc in #2043
• HITL - Add object state manipulation utility. by @0mdc in #2042
• HITL - Add selection to rearrange_v2 UI. by @0mdc in #2036
• HITL - Session Data Improvements by @0mdc in #2044
• HITL - Refactor RearrangeV2 configs. by @0mdc in #2047
• HITL - UI bugfix. by @0mdc in #2048
• [bugfix][hitl] - don't update krm when placing on floors by @aclegg3 in #2049
• HITL - Rename HITL output directory and ignore it. by @0mdc in #2050
• HITL - Add hover information panel. by @0mdc in #2057
• Allow disabling agent sensors auto-update. by @0mdc in #2061
• HITL - Add selection panel and object state manipulation UI. by @0mdc in #2058
• HITL - Add information to HITL output. by @0mdc in #2059
• HITL - Add feedback screen. by @0mdc in #2055
• HITL - Change object state check function signature. by @0mdc in #2069
• HITL - Fix viewport visibility layer initialization. by @0mdc in #2071
• HITL - Configure camera height based on the agent height. by @0mdc in #2070
• HITL - Synchronize agent sensors with cameras. by @0mdc in #2068
• HITL - Fix choppy continuous remote input. by @0mdc in #2020
• HITL - Highlight default receptacles by @0mdc in #2075
• HITL - Remove redundant camera update. by @0mdc in #2076
• HITL - Add metrics to HITL output. by @0mdc in #2081

CI:

• [CI] re-activate the config test after upstream sim fix by @aclegg3 in #1915
• [CI] close pddl sim after test by @aclegg3 in #1937
• [CI] - resolve sdist filepath issue by @aclegg3 in #1938
• Temporarily disable batch renderer training test. by @0mdc in #1944
• [CI] - disable new clone protection for git lfs by @aclegg3 in #1961
• [BE/CI] - remove auto downloads by @aclegg3 in #1962

Other:

• Add autogenerated navmeshes to gitignore. by @0mdc in #1963
• nan guards in snap point APIs for navmesh_utils by @aclegg3 in #1973
• Add missing typing hints to articulated agent manager. by @0mdc in #1977
• Skip json conversion of invalid attributes. by @0mdc in #1992
• Change raw print to debug log by @MatthewChang in #1981
• [BE] - cleanup ao humanoid controllers by @aclegg3 in #1994
• [BE] refactor to use new aabb properties from sim by @aclegg3 in #1996
• When navigating, allow to list objects for which we will ignore collisions (e.g. other agents) by @xavierpuigf in #2002
• Add human-readable display names to object states. by @0mdc in #2005
• [BE] - remove unnecessary debug code by @aclegg3 in #2007
• [BE][docs] - cleanup docstring: sims.habitat_simulator.debug visualizer|actions by @aclegg3 in #2008
• [BE] cleanup docstring sims.habitat_simulator.sim_utilities by @aclegg3 in #2009
• [BE] - remove pyrobot integration by @aclegg3 in #2015
• [BE] - cleanup docstring sims.habitat_simulator.kinematic_relationship_manager by @aclegg3 in #2016
• Add dataset metadata field to DatasetConfig. by @0mdc in #2022
• [BE] - Update docstrings and formatting for sims.habitat_simulator.object_state_machine.py by @aclegg3 in #2017
• [BE] - cleanup docstring core.benchmark by @aclegg3 in #2033
• [BE] - remove try_cv2_import by @aclegg3 in #2029
• [BE] - cleanup docstring core.dataset by @aclegg3 in #2034
• [bugfix] - handle duplicate objects in rearrange_sim episode initialization by @aclegg3 in #2040
• [BE] - cleanup docstrings core.utils by @aclegg3 in #2032
• [BE] - cleanup docstring core.simulator by @aclegg3 in #2046
• [BE] - reactivate flake8 checks in rearrange_sim and correct issues by @aclegg3 in #2052

New Contributors

• @MatthewChang made their first contribution in #1981

Full Changelog: v0.3.1...v0.3.2