Major features and improvements:

• Add audio sensor via integration with RL Audio Propagation Engine (#1646, #1780, #1781) (doc page)
• Add Python interactive Viewer utility (#1519, #1538, #1551, #1555, #1558, #1629, #1631, #1632, #1706, #1704, #1707)
• Add FairMotion Interface examples for loading motion capture into Habitat-sim (#1552, #1557, #1560, #1561, #1578)
• Introduce new Habitat configurable logging framework and migrate from GLOG (#1411, #1428, #1431, #1435) (doc page)
• Refactor all C++ tests to CorradeTestSuite (#1476, #1477)
• Make habitat-sim PIP installable (#1440)
• Add nightly OSX Conda build (#1430)
• Image Based Lighting (IBL) prototype support for PBR shading (#1461, #1488, #1412)
• Add Bullet CollisionHelper utility (#1484)
• Add CollisionGroup overriding for BulletArticulatedObjects (#1597)
• Add get_joint_motor_torques function by @SimarKareer in https://github.com/facebookresearch/habitat-sim/pull/1585
• Rigid Object Instance Non-uniform scaling by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1742
• Support user defined config values for ArticulatedObjects defined in JSON accompanying URDFs (#1458)
• Support Wildcard handling in SceneDataset config files (#1584, #1743)
• Support saving SceneInstance config files from current simulator state (#1568, #1416)
• Breaking Change: Remove all object manipulation functionality from Simulator API in favor of ObjectWrapper interface (#1574)
• Breaking Change: Upgrade minimum python version requirement to 3.7 (#1647)
• Breaking Change: Python module moved from habitat_sim/ to src_python/habitat_sim/ by @erikwijmans in https://github.com/facebookresearch/habitat-sim/pull/1586

Datasets

• ReplicaCAD v1.1→v1.5 (#1681, #1685, #1694, #1729)
• YCB v1.2 (#1772)
• Replica-Dataset install and use directions updated (#1771)
• Support HM3D semantic textures (#1556, #1592, #1618, #1638, #1657, #1658, #1669, #1678, #1690, #1709)
• Support ScanNet asset importing (#1434)
• Remove SUNCG dataset support/references by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1591
• Adding rearrange_pick_dataset_v1 by @vincentpierre in https://github.com/facebookresearch/habitat-sim/pull/1664

Other improvements and bug fixes:

Bugfixes

• [bugfix] fix consistent typo across many tutorial files by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1419
• [BugFix] Update download script to get most recent version of ReplicaCAD dataset by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1398
• [bugfix] Fix missing reserve call for std::vector for ManagedContainer by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1425
• [bugfix] fix overlay_settings not being forwarded by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1422
• [Bugfix] Fix bugs in examples benchmarking by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1429
• [BUGFIX]Remove redundant method refs in log messages by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1432
• [Bugfix]Clean up '0-as-null pointer' warnings by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1442
• [BUGFIX] Do not set orientation based on file ext if default attributes provided, overrides default config for orientation. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1439
• [bugfix][viewer] Allow user to hide mouseinteraction text by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1444
• CollisionGroup::Noncollidable fix by @eundersander in https://github.com/facebookresearch/habitat-sim/pull/1449
• --Fix clang-tidy cast complaint in configuration. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1453
• --[BugFix]Fix erroneous ConfigStoredType checks by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1456
• [bugfix] Fix bug in detecting if is_pip() by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1457
• [bugfix][colab] Dynamically pin numba to appropiate colab version by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1459
• Fix Double PathFinder by @erikwijmans in https://github.com/facebookresearch/habitat-sim/pull/1483
• [Bugfix]: make corrade plugins static by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1480
• [BugFix]--Address when Bullet is available but physics is not enabled. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1494
• [BugFix]--Fix improper JSON object access. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1493
• [Bugfix]--address segfaults by catching nullptr attribs and exiting gracefully by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1515
• Fix semantic rendering by @erikwijmans in https://github.com/facebookresearch/habitat-sim/pull/1507
• Fix broken link in webxr hand demo docs by @eundersander in https://github.com/facebookresearch/habitat-sim/pull/1523
• Bugfix for Imgui assert on hiding FPS display by @eundersander in https://github.com/facebookresearch/habitat-sim/pull/1521
• Fixing macOS linking bug by @dhruvbatra in https://github.com/facebookresearch/habitat-sim/pull/1520
• (bugfix): Fix conda and docs nightly jobs by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1531
• [Bugfix]--Add default entries into configuration by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1547
• [Bugfix/Refactor]--Fix .ply load limitations and bugs by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1542
• Mobile Manipulator Bug Fix and Input Validation by @ASzot in https://github.com/facebookresearch/habitat-sim/pull/1537
• [BugFix]--bypass test_sensor tests if no torch is found. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1559
• [Bugfix]--Fix CatmullRom Traj off-by-ones; add multiple colorspaces gradient support by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1571
• [Bugfix/Refactor]--Acquire render context on object removal; Cleanup superfluous add objects by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1581
• [Bugfix/Refactor]--Some attributes fixes and improvements by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1588
• [Bugfix]--Appropriately handle multiple meshes being assigned to the same transform node. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1609
• [Bugfix]--fix missing slots declarations of pimpl implementation refs. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1610
• Fix segfault on init failure by @erikwijmans in https://github.com/facebookresearch/habitat-sim/pull/1623
• --Viewer : minor bugs; refactor drawEvent by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1621
• --Bug fixes: Navmesh building and reconfigure in viewer.py by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1632
• [Bugfix]--Move .ply transform to before all potential vert-based calcs by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1635
• [bugfix] - index torques by link DoF by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1637
• Fix performance issues with calc MOBB by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1648
• Fixes bug that only allow constraints to be set in one direction of a singular axis by @lucasosouza in https://github.com/facebookresearch/habitat-sim/pull/1645
• [Bugfix]--Support HM3D categories having commas between quotes by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1652
• [Bugfix]-- Fix semantic color map binds (arrayView -> const ref) by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1654
• [Bugfix]--Add "unknown" object corresponding to semantic ID 0 for HM3D; Refactors for Texture Semantics by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1657
• [Bugfix]--verify directory is not empty before using it to save attributes by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1668
• [Bugfix] Fix python bindings for OBB by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1670
• [BUGFIX]--fix replicaCAD quickstart to not default to showing the NONE scene by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1682
• [Bugfix]--Verify that semantic scenes exist before reporting by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1683
• Properly use texture transformation matrix for flat materials as well. by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1688
• Fix noise model by @erikwijmans in https://github.com/facebookresearch/habitat-sim/pull/1684
• --General Bug fixes, Style Refactors and Improvements. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1698
• Mobile Manipulator Bug Fix by @ASzot in https://github.com/facebookresearch/habitat-sim/pull/1700
• [BUGFIX]--Address mem leak in ConfigValue destructor for strings. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1725
• [bugfix] - compute navmesh visualization node AABB by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1727
• [bugfix] - viewer toggle lighting override with --stage-requires-lighting by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1754
• [Bugfix]--add missing fields to AssetInfo comparator; by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1757
• [bugfix] - moveUp moveDown by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1763
• [bugfix] - Working with Lights tutorial update by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1760

CI

• [CI]: update codecov to use binary + fix ccache by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1470
• CI: Don't include tests in codecov by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1471
• [Compilation] Allow ThinLTO and Fix CI flakiness by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1460
• [CI] Stops nightly-condabuild from corrupting itself. by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1479
• [CI] Fix conda nightly package cache by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1490
• Fix one more miniconda reference by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1496
• [CI]: Quickfix the CI by updating certificates by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1518
• Add proper clang-format to pre-commit by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1514
• [CI]: Add hooks to ban blanket lint ignores by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1527
• Some conda fixes by @erikwijmans in https://github.com/facebookresearch/habitat-sim/pull/1534
• [CI/Bugfix]--fix ci to use non-buggy mypy vers, hypothesis vers compat w/python 3.6 by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1611
• Upgrading XCode in CI to 13.0.0 by @vincentpierre in https://github.com/facebookresearch/habitat-sim/pull/1612
• Increase timeout for osx conda build by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1630
• Remove irrelevant clang-tidy check (google-make-explicit-pair) by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1661
• Fix flake8-simplify bugs and disable experimental SIM codes by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1662
• Fix flaky pytest-cov by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1663
• Upgrade CI to Ubuntu 20 by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1665
• Update pre-commit hooks by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1713
• Conda build pass yes by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1715
• fix osx conda nightly by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1718
• Flake8 comprehensions update by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1774

Other

• Update PyBind11 to 2.7.1 by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1420
• ManagedContainers - Change underlying data structure to unordered map by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1423
• Don't run flushLines code when there are no lines by @ldcWV in https://github.com/facebookresearch/habitat-sim/pull/1427
• Move physics off the main thread in WebXR Hand Demo by @ldcWV in https://github.com/facebookresearch/habitat-sim/pull/1407
• Modify ResourceManager::loadStage to receive SceneObjectInstance for stage, and consume MM instead of arguments. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1436
• --Add ability to retrieve a dictionary of handle-keyed templates/wrapped objects via substring query by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1443
• esp::core::Configuration changed to use unordered_map of variant-like instead of Magnum::ConfigurationGroups by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1433
• Configuration performance improvements and functionality enhancements. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1452
• change frame color buffer from srgb to linear (RGBA8) by @eundersander in https://github.com/facebookresearch/habitat-sim/pull/1451
• --Attributes improvements and refactor. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1454
• Bundle OpenEXR and enable import & conversion plugins by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1447
• --add binding to access read-only dictionary of URDF paths by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1462
• Add cache and query for ArticulatedObject global scaling. by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1466
• --Use subconfigs instead of local vectors for scene instance and light attributes by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1465
• --Hide Configuration Setters in Attributes for safety by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1473
• --Remove redundant JSON functionality, and geo's dep on io. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1474
• [TechDebt]--Rename files to be consistent and adhere to Facebook c++ standards by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1482
• [TechDebt]--Cleanup superfluous IO functions by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1478
• change references to habitat-sim "master" branch to "main" by @eundersander in https://github.com/facebookresearch/habitat-sim/pull/1481
• added correct link to hm3d page by @ykarmesh in https://github.com/facebookresearch/habitat-sim/pull/1487
• Remove unused and potentially confusing agent dynamic properties by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1426
• [TechDebt]--Minor Refactors; Attributes/ManagedContainer optimizations and documentation updates. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1469
• [TechDebt]--JsonAttributes Docs update by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1486
• [TechDebt]--Minor refactors by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1495
• [TechDebt]--Rename "requiresLighting"/"requires_lighting" to "forceFlatShading"/"force_flat_shading" by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1492
• --Update Magnum to use fix for reflection decomp in TRS transform calcs. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1501
• [Cleanup]--Clean up tests. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1504
• added path arg to load_nav_mesh by @naokiyokoyama in https://github.com/facebookresearch/habitat-sim/pull/1503
• Add option to preserve URDF link ordering by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1489
• Update README.md by @dhruvbatra in https://github.com/facebookresearch/habitat-sim/pull/1506
• Update PyBind11 to 2.8.0 by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1517
• --ignore js demo data and web assembly by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1524
• [Attributes]--Change configuration enum value handling by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1522
• Use a newer pip so the MacOS wheel gets installed by @erikwijmans in https://github.com/facebookresearch/habitat-sim/pull/1525
• Update Magnum projects to latest by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1529
• Migrate from 'master' to 'main' for website build by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1508
• Add pre-commit hook to strip unused noqas by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1528
• [ShaderType/Material 2 of 3]--Support existing config ShaderType specification when creating materials by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1509
• --Add keymap to display current scene dataset report by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1543
• [TechDebt]--Move Managed Containers to their own namespace by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1546
• Conda mutex by @erikwijmans in https://github.com/facebookresearch/habitat-sim/pull/1541
• [TechDebt]--Minor changes to RM; Move root orientation calc to MeshMetaData by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1545
• Support multi-color gradient trajectories by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1550
• Update Magnum projects and switch to CgltfImporter from TinyGltfImporter by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1549
• Update pybind11 to v2.8.1 by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1553
• Updated citations by @ASzot in https://github.com/facebookresearch/habitat-sim/pull/1536
• [Part 1 of 2]--SceneInstanceAttributes rename; Attributes testing improvements by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1564
• Update README.md by @dhruvbatra in https://github.com/facebookresearch/habitat-sim/pull/1569
• [Logging]--Minimize "nospace" directives; add timestamp to log messages by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1573
• [Attributes]--Add semantic mesh orientation support by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1590
• Upgrade to Magnum's new SceneData API by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1593
• --Prevent viewer.cpp from saving uselss imgui.ini file by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1595
• Add attribution for demo scenes to README.md license section by @msavva in https://github.com/facebookresearch/habitat-sim/pull/1596
• Minor updates to support hab2 benchmarking by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1599
• --Expand Viewer scene paging functionality by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1616
• Update PyBind11 to v2.9.0 by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1617
• [Refactor]--Cleaup;Remove unused field/methods. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1614
• --Update Magnum to most recent version by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1619
• Viewer improvements by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1624
• --Flatten compound semantic scenes whilst preserving submesh transforms. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1625
• Viewer improvements - URDF and scene quick reload by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1628
• Updated README to Clarify MacOS Installation by @ASzot in https://github.com/facebookresearch/habitat-sim/pull/1594
• --Remove unused/superfluous dependency, Sophus by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1639
• --update magnum deps for texture semantic shader support by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1640
• --Black python linting tool update to 22.1.0 by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1643
• Python 3.7 upgrade by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1647
• --Remove Mp3dInstanceMeshData from habitat-sim source by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1644
• --Vertex-based semantic annotation : Semantic object OBB gen by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1633
• Update pybind11 and magnum-bindings by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1651
• Revert numpy version bump by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1650
• Update m.css to latest by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1655
• update gpu resource by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1660
• Pathfinder sample near point by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1656
• [doc] - Simulator.PhysicsDebugDraw binding update by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1705
• Update pybind11 to v2.9.2 by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1714
• orthonormalize the rotationShear() part of transforms by @erikwijmans in https://github.com/facebookresearch/habitat-sim/pull/1720
• --Update Bullet to Bullet 3.22b by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1723
• Make NavMesh recomputation for non-default agent params optional by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1724
• --updated DATASETS.md to reflect Gibson config download requirement. by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1726
• Update create_basis_compressed_glbs tool to use CgltfImporter by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1730
• Update Magnum to latest and adapt to API deprecation by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1728
• Minor perf fix in magnum-bindings buffer protocol by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1731
• deps: update Eigen to 3.4 by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1746
• --Add ConfigValue support for Mn::Matrix3 (3x3 matrices of floats) by @jturner65 in https://github.com/facebookresearch/habitat-sim/pull/1753
• Update Magnum to latest version that supports loading custom batch-optimized glTFs by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1776
• Actually update to latest Magnum, sorry by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1777

New Contributors

• @ykarmesh made their first contribution in https://github.com/facebookresearch/habitat-sim/pull/1487
• @JuanTheEngineer made their first contribution in https://github.com/facebookresearch/habitat-sim/pull/1519
• @SimarKareer made their first contribution in https://github.com/facebookresearch/habitat-sim/pull/1585
• @lucasosouza made their first contribution in https://github.com/facebookresearch/habitat-sim/pull/1645
• @sanchitgarg made their first contribution in https://github.com/facebookresearch/habitat-sim/pull/1646

Full Changelog: https://github.com/facebookresearch/habitat-sim/compare/v0.2.1...v0.2.2