Major features and improvements:

• Semantic Region Support: define 2d polyloops with height extrusion to represent and query rooms/regions in a scene:

  • Initial implementation and metadata support by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2299 and https://github.com/facebookresearch/habitat-sim/pull/2307
  • Region Query API (w/ Python bindings) by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/2317 and by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2336

• Render skinned meshes with PBR shader by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2204

• Add Panoptic/Instance ID support to Semantic sensor by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2316

• Activate objects when moved by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/2314

• Expose ArticulatedObject creation_attributes by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/2259

• Define constant and bindings for stage ID by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2325

• Deprecate colabs (in favor of local Jupyter notebooks) by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/2298

• Docs cleanup and improvements by various authors in https://github.com/facebookresearch/habitat-sim/pull/2238, https://github.com/facebookresearch/habitat-sim/pull/2267, https://github.com/facebookresearch/habitat-sim/pull/2268, https://github.com/facebookresearch/habitat-sim/pull/2275, https://github.com/facebookresearch/habitat-sim/pull/2283, https://github.com/facebookresearch/habitat-sim/pull/2285, https://github.com/facebookresearch/habitat-sim/pull/2281, https://github.com/facebookresearch/habitat-sim/pull/2292

• Update Magnum submodule by @mosra in https://github.com/facebookresearch/habitat-sim/pull/2243, https://github.com/facebookresearch/habitat-sim/pull/2278, https://github.com/facebookresearch/habitat-sim/pull/2309, https://github.com/facebookresearch/habitat-sim/pull/2322

Other Changes and Bugfixes

• Fix rigs not being deleted from the recorder. by @0mdc in https://github.com/facebookresearch/habitat-sim/pull/2251
• Set the default fallback material as Phong. by @0mdc in https://github.com/facebookresearch/habitat-sim/pull/2262
• --Update reference to deprecated Magnum 'angle' function by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2264
• Correct HSSD public repo to un-authenticated by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/2261
• --[BE Week] Update projection matrix near/far plane calcs by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2276
• --[BE Week] Better Attributes Handle search efficiency; Viewer.cpp/Viewer.py text render fixes by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2279
• Minor fix in python viewer. by @0mdc in https://github.com/facebookresearch/habitat-sim/pull/2282
• Fix typos in top-level files and tools. by @0mdc in https://github.com/facebookresearch/habitat-sim/pull/2284
• Change default python viewer dataset to 'default'. by @0mdc in https://github.com/facebookresearch/habitat-sim/pull/2287
• [ci] - new website key by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/2294
• --[BE Week] Articulated Object Loading refactors and cleanup by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2291
• [CI] - Add hm3d example scenes to ci test assets by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/2303
• --Object/AO creation refactor and Object/AO Instance save/creation by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2315
• Get ycb dataset from main branch by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/2320
• Add max decimal place option to recorder. by @0mdc in https://github.com/facebookresearch/habitat-sim/pull/2319
• Ability to render the viewer content at quarter resolution on very-high-DPI screens by @mosra in https://github.com/facebookresearch/habitat-sim/pull/2321
• --[CI Fix] Fix miniconda versions by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2334
• --Minor fixes and improvements by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/2333
• bump the version to 0.3.1 by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/2339

Full Changelog: https://github.com/facebookresearch/habitat-sim/compare/v0.3.0...v0.3.1