Major features and improvements:

• Nav module improvements by @aclegg3:
  • NavMesh islands added to API in https://github.com/facebookresearch/habitat-sim/pull/1866
  • islands topdown map in https://github.com/facebookresearch/habitat-sim/pull/1903
  • NavMeshSettings JSON serialization in https://github.com/facebookresearch/habitat-sim/pull/1883
  • improved documentation in https://github.com/facebookresearch/habitat-sim/pull/1850
• Batched Renderer prototype by @mosra and @0mdc in https://github.com/facebookresearch/habitat-sim/pull/1904 ,https://github.com/facebookresearch/habitat-sim/pull/1798, https://github.com/facebookresearch/habitat-sim/pull/1874, https://github.com/facebookresearch/habitat-sim/pull/1961
• Add rolling and spinning friction coefficient parameters by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1845
• Document SceneDataset JSON config system by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1863
• Added settings.py to habitat_sim.utils by @jaraujo98 and @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1832, https://github.com/facebookresearch/habitat-sim/pull/1879, https://github.com/facebookresearch/habitat-sim/pull/1949
• Robots module moved to Habitat-lab by @zachavis in https://github.com/facebookresearch/habitat-sim/pull/1790

Other improvements and bug fixes:

Datasets

• update to HM3D v0.2 by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1910, https://github.com/facebookresearch/habitat-sim/pull/1916, https://github.com/facebookresearch/habitat-sim/pull/1927
• add Franka download by @laikhtewari in https://github.com/facebookresearch/habitat-sim/pull/1837
• add Spot download by @jimmytyyang in https://github.com/facebookresearch/habitat-sim/pull/1885
• add Stretch download by @jimmytyyang in https://github.com/facebookresearch/habitat-sim/pull/1936
• updated Fetch assets by @ASzot in https://github.com/facebookresearch/habitat-sim/pull/1959

Bugfixes

• remove direct usage of hsim_bindings for audio and fix missing reexports by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1788
• viewer.py navmesh recompute skip for "none" scene by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1809
• Gfx-replay and JSON serialization fixes by @eundersander in https://github.com/facebookresearch/habitat-sim/pull/1758
• declare allocator in IOTest by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1816
• add mp3d_example scene dataset config to the tutorials by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1847
• minor fix to viewer text string creation for semantic labels by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1859
• remove an extra tmp copy of lightsetup in Simulator.cpp by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1867
• prevent unnecessary copies with more std::move and emplace by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1870
• support habitat-lab requirements.txt after split by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1890
• assorted fixes for more robust handling of asset corner cases by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1915
• don't give up when encountering lines/points/... in collision mesh data by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1888
• skip non-triangle mesh primitives in mesh join for navmesh recomputation by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1951

CI

• updating docs should wait until lab-build is complete by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1826
• fix nightly conda preserve_egg_dir by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1844
• fix ci pytorch cuda by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1946
• don't cache habitat-lab by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1952

Other

Documentation

• adding instructions on how to build docs by @vincentpierre in https://github.com/facebookresearch/habitat-sim/pull/1779
• update citation by @ChanganVR in https://github.com/facebookresearch/habitat-sim/pull/1787
• Documenting habitat test scenes and pointnav episodes by @srama2512 in https://github.com/facebookresearch/habitat-sim/pull/1821
• making README consistent with Habitat-Lab readme by @dhruvbatra in https://github.com/facebookresearch/habitat-sim/pull/1830
• Better colors for "info" and "success" notes in the documentation and website by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1893
• changed header from facebook to meta platforms by @NakuraMino in https://github.com/facebookresearch/habitat-sim/pull/1913
• add comment blocks by @NakuraMino in https://github.com/facebookresearch/habitat-sim/pull/1917
• README updates in https://github.com/facebookresearch/habitat-sim/pull/1957, https://github.com/facebookresearch/habitat-sim/pull/1955, https://github.com/facebookresearch/habitat-sim/pull/1962

Corrade | Magnum

• update Corrade and Magnum with prefixed CMake options by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1797
• update Magnum to latest & fix various minor buildsystem issues by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1819
• update to Magnum with initial support for glTF export and CPU feature dispatch by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1834
• update to Magnum with windowed EGL support; better static plugin linking for Python by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1861
• allow GLX to still be used if EGL doesn't work for whatever reason by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1877
• update Magnum submodules with support for querying MeshData size from Python by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1878
• update Doxygen tagfiles and Python inventories for Corrade/Magnum doc crosslinking by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1889
• update Magnum submodules to latest, fix AssimpImporter assertion by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1911

Infra Improvements

• [mypy] - ignore erroneous type warning in new imageio version. by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1817
• update pybind11 to v2.10.0 by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1815
• add build info to pytest_report_header by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1806
• chore: optimize src/esp by removing temporaries by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1835
• hhore: Remove unnecessary casts from SensorSpec bindings by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1858
• refactor GfxReplayTest::testSimulatorIntegration by @0mdc in https://github.com/facebookresearch/habitat-sim/pull/1855
• random "header hygiene" cleanups by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1880
• temporarily work around lost code coverage reports by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1892
• better check of type before converting vector to quaternion by @vincentpierre in https://github.com/facebookresearch/habitat-sim/pull/1896
• update pybind11 to v2.10.1 by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1926
• (perf): Improve codebase by adding std::move on last use of object by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1930
• (perf): add another missing move in pathfinder by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1931
• chore: Add a few missing std::move to shared_ptr. by @Skylion007 in https://github.com/facebookresearch/habitat-sim/pull/1954
• serialize lights into gfx-replay json format. by @0mdc in https://github.com/facebookresearch/habitat-sim/pull/1857
• properly handle non-indexed collision meshes by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1876
• update rlr-audio-propagation dependency to main by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1923

Viewer Application:

• port stage_requires_lighting arg to python viewer by @aclegg3 in https://github.com/facebookresearch/habitat-sim/pull/1807
• viewer py add magnum text by @jrreyna in https://github.com/facebookresearch/habitat-sim/pull/1862
• use Magnum's builtin text rendering instead of ImGui; expose it in Python by @mosra in https://github.com/facebookresearch/habitat-sim/pull/1853

New Contributors

• @zachavis made their first contribution in https://github.com/facebookresearch/habitat-sim/pull/1790
• @ChanganVR made their first contribution in https://github.com/facebookresearch/habitat-sim/pull/1787
• @laikhtewari made their first contribution in https://github.com/facebookresearch/habitat-sim/pull/1837
• @jaraujo98 made their first contribution in https://github.com/facebookresearch/habitat-sim/pull/1832
• @0mdc made their first contribution in https://github.com/facebookresearch/habitat-sim/pull/1855
• @jrreyna made their first contribution in https://github.com/facebookresearch/habitat-sim/pull/1862
• @jimmytyyang made their first contribution in https://github.com/facebookresearch/habitat-sim/pull/1885
• @NakuraMino made their first contribution in https://github.com/facebookresearch/habitat-sim/pull/1913

Full Changelog: https://github.com/facebookresearch/habitat-sim/compare/v0.2.2...v0.2.3