Code

Magnum Renderer#3

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mosra wants to merge 53 commits intoeundersander:eundersander/batched_kinematic_simeundersander/habitat-sim:eundersander/batched_kinematic_simfrom mosra:magnum-renderermosra/habitat-sim:magnum-rendererCopy head branch name to clipboard

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Commits

Commits on Mar 29, 2022

• add json serialize for int16_t, uint16_t

  eundersander

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• add json serialize for Magnum types: Matrix3x3, Range3D, Vector2

  eundersander

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• add episode json save/load; add agent start pos/yaw to episode data

  eundersander

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• update googletest commit to avoid maybe-uninitialized warning

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Commits on Mar 30, 2022

• per-env resetting and startStepPhysicsOrReset API

  eundersander

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Commits on Mar 31, 2022

• add robot_joint_positions to PythonEnvironmentState

  eundersander

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• add EpisodeSet::allEpisodesAABB_

  eundersander

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Commits on Apr 1, 2022

• allow resetting an env to an arbitrary episode; bugfix for physics thread deadlock

  eundersander

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Commits on Apr 2, 2022

• * added lots of state to PythonEnvironmentState

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Commits on Apr 3, 2022

• add habitat_sim.build_type string attr

  eundersander

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• add BatchedSimulatorConfig::actionMap

  eundersander

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Commits on Apr 4, 2022

• hack to force compile errors for missing JSON serialization functions

  eundersander

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• add JSON serialization for std::pair

  eundersander

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• * replace python action_map with collection.json actionMap, including stepMin/stepMax

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  eundersander

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• more robust grasping

  eundersander

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Commits on Apr 5, 2022

• more robust object-dropping; added drop_height to python env state

  eundersander

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Commits on Apr 6, 2022

• normalizing the actions so that -1 and 1 become the limits (facebookresearch#1719)

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Commits on Apr 8, 2022

• update bps3D commit

  eundersander

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• add setRobotCamera and setFreeCamera

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Commits on Apr 11, 2022

• fix for default actions == 0.5; add PythonEnvironmentState::robot_joint_positions_normalized

  eundersander

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• add include_frame_number option for viz_utils.make_video

  eundersander

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• polish for viz_utils include_frame_number

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• change actions range from 0..1 to -1..1

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Commits on Apr 12, 2022

• add debug RGB sensor; remove debugPairedEnv stuff

  eundersander

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• release compile fix; add num_procedural_episodes config param

  eundersander

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Commits on Apr 14, 2022

• added EpisodeGeneratorConfig; fix for CollisionBroadphaseGrid::contactTest; improve PlacementHelper::place; support for procedural robot placement

  eundersander

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Commits on Apr 18, 2022

• json serialize support for std::array

  eundersander

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• added EpisodeGeneratorConfig::use_fixed_robot_joint_start_positions and support for random joint start positions

  eundersander

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Commits on Apr 20, 2022

• add BatchedSimulatorConfig.enable_robot_collision and enable_held_object_collision

  eundersander

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• add debug rendering for object start and goal poses

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Commits on Apr 21, 2022

• add get_spherical_coordinates

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Commits on Apr 29, 2022

• fix for getSphericalCoordinates NaNs

  eundersander

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Commits on May 17, 2022

• add static scenes support; formatting cleanup

  eundersander

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• hack update to latest version of datasets_download.py in habitat-sim/main

  

  aclegg3

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  eundersander

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• gfx-replay scaling fix (relevant for URDF scaling)

  eundersander

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• add --do-gala-kinematic-preprocess to legacy viewer

  eundersander

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• add file-write error-checking to Recorder::writeSavedKeyframesToFile

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• nicer file IO error for ColumnGrid

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Commits on May 19, 2022

• Updated Magnum submodules for the batch renderer.

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  mosra

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• cmake: update Magnum Find modules.

  mosra

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• Bundle new Basis Universal 1_15_update2, including Zstd.

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• Strange things happening with external Magnum if I don't do this.

  mosra

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• Why those bugs?

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  mosra

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• ye

  mosra

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• Remove some sign flipping nonsense.

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  mosra

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• Add more stuff in the converter; handle untextured objects.

  mosra

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• "Fix" a silly transformation hierarchy bug.

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  mosra

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• Handle Phong input materials correctly, texture-transform smaller images.

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  mosra

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Commits on Jun 16, 2022

• Adapt to texture layers and typed custom fields now being builtin.

  mosra

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• Better defaults for the demo.

  mosra

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• Use proper kind of asserts.

  mosra

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• What's up with the formatting here.

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Commits on Jul 21, 2022

• WIP

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