• Import objects from a library (e.g. YCB dataset, Wayfair, or Ikea furniture models) and programmatic scene construction (“add this chair here”) (#91, #248)
• Kinematic control of instanced rigid object (#91, #211)
• Preliminary rigid body physics via Bullet physics engine (apply forces/torques, check for collisions, etc) (#91, #178, #188, #211, #231, #227, #213)
• High-resolution Replica model rendering with high dynamic range (HDR) textures (#116, #190, #196, #198, #203, #221, #225, #244, #280, #281)
• Habitat browser build: WebGL and JavaScript API (#133, #142, #147, #148, #153, #168, #172, #224, #228, #278, #279)
• Realistic noise models: PyRobot actuation noise (#89)
• GPU-GPU memory sharing with PyTorch integration (#114)
• Documentation system improvements (#71, #185, #209, #252)
• Preliminary VR support (#230)
• Performance enhancements: moving to magnum types instead of numpy (#107)

Other improvements and bug fixes:

• pybind11 integration for SceneGraph & related magnum objects (#64)
• Improved imports for bindings (#186, #105)
• Progress towards convert custom shader logic to use Magnum shader API (#116, #150, #164, #151)
• CI improvements: added JS bindings build step, added C++ tests to CI , added ccache, fixed PyTorch caching, check of test data installed, pre-commit, added isort-seed, changed CI black and isort (#166, #110, #113, #155, #160)
• Support loading “empty” scene with no scene mesh and allow semantic rendering for scenes without semantic annotations and “empty” scenes (#208)
• Support no sensors (#85) and sensors of different resolution (#114)
• Improved error logging from the build shell scripts. (#156, #159, #174)
• Added registries to Habitat simulator python side (#204)
• Renamed lookLeft/Right to turnLeft/Right (#269)

Corresponding Habitat-API v0.1.3 release.