Major features and improvements:

• Fetch Robot Wrapper improvements: added third person camera, utility functions for the base movement, refactored the interpolate arm function (#1373)
• PBR/IBL functionality to render an equirectangular image to cubemap (#1390, #1391)
• The WebXR/WebVR hand functionality and demo with refactoring JS code to support future webapps (#1366, #1364, #1365)
• Added support for nested user-defined attributes for scene data structures (#1413)
• Added debug line render utility (#1349)
• Powered by CI OSX conda package build (#1386)
• Added viewer Hot-swap scenes functionality (#1368)

Other improvements and bug fixes:

• Dataset download util default path improvements (#1362, #1369).
• Fix Colab install issue with scipy (#1361)
• Better default physics config
• Readme restructure to reflect Habitat 2.0 functionality (#1394, #1395, #1403).
• Upgrade Pybind11 to 2.7 (#1388) and Updated Magnum submodules (#1404).
• gltf/glb "extensionsUsed" not being set for Khronos validation (#1402)
• Improved documentation for ContactPointData #1372
• Cleanup and development of flag to enable/disable rendering (#1308)
• Enable URDF AO Loader to support unlit / baked lighting assets. #1408
• Various bug fixes, including:
  • Fixed bug in scene instance list view start. (#1380)
  • Change URDF assert to ESP_CHECK (#1397)

Corresponding Habitat-Lab v0.2.1 release.

Kudos to our community contributors: @ldcWV, @srama2512