facebookresearch
Showing 608 changed files with 122,951 additions and 56,704 deletions.
diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -123,9 +123,10 @@ commands:
                 . activate habitat
                 # For whatever reason we have to install pytorch first. If it isn't
                 # it installs the 1.4 cpuonly version. Which is no good.
-                conda install -q -y pytorch torchvision cudatoolkit=11.3 -c pytorch
-                conda install -q -y -c conda-forge ninja numpy pytest pytest-cov ccache hypothesis
-                pip install pytest-sugar pytest-xdist pytest-benchmark opencv-python
+                #conda install -q -y pytorch=1.12 torchvision pytorch-cuda=11.3 -c pytorch -c nvidia
+                conda install pytorch==1.12.1 torchvision==0.13.1 cudatoolkit=11.3 -c pytorch
+                conda install -q -y -c conda-forge ninja numpy pytest pytest-cov ccache hypothesis pytest-mock
+                pip install pytest-sugar pytest-xdist pytest-benchmark opencv-python cython mock
               fi
       - run:
           name: Install emscripten
@@ -156,9 +157,9 @@ commands:
                 npm install
                 touch ~/npm_deps_installed
               fi
-      - restore_cache:
-          keys:
-            - habitat-lab-{{ checksum "./hablab_sha" }}
+      #- restore_cache:
+      #    keys:
+      #      - habitat-lab-{{ checksum "./hablab_sha" }}
       - restore_cache: &ccache_cache
           keys:
             - ccache-{{ arch }}-{{ .Branch }}-{{ .BuildNum }}
@@ -184,18 +185,11 @@ jobs:
       - run:
           name: setup
           command: |
-              # Updated llvm to v 10
-              sudo apt-get update
-              sudo apt-get install llvm-10
-              cd /usr/bin
-              sudo rm  llvm-config
-              sudo ln -s llvm-config-10 llvm-config
-              cd ~/project/
               pip install -U pip
               pip install -U --prefer-binary \
                 black \
                 flake8 \
-                flake8-bugbear \
+                flake8-bugbear==22.6.22 \
                 flake8-builtins \
                 flake8-comprehensions \
                 flake8-return \
@@ -439,7 +433,7 @@ jobs:
                 git clone -q --depth 1 https://github.com/facebookresearch/habitat-lab.git
               fi
               cd habitat-lab
-              pip install -r requirements.txt --progress-bar off
+              pip install -r habitat-lab/requirements.txt --progress-bar off
               ln -s ../habitat-sim/data data
               touch ~/miniconda/pip_deps_installed
       - run:
@@ -448,8 +442,11 @@ jobs:
           command: |
               export PATH=$HOME/miniconda/bin:$PATH
               . activate habitat; cd habitat-lab
-              python -u setup.py develop --all
-              python -u setup.py test
+              pip install -e habitat-lab
+              pip install -e habitat-baselines
+              export PYTHONPATH=.:$PYTHONPATH
+              export MULTI_PROC_OFFSET=0 && export MAGNUM_LOG=quiet && export HABITAT_SIM_LOG=quiet
+              python -m pytest
       - save_cache:
           key: habitat-lab-{{ checksum "./hablab_sha" }}
           background: true
@@ -461,8 +458,8 @@ jobs:
               export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
               . activate habitat; cd habitat-lab
               # Install requirments first to avoid errors related to gym
-              pip install -r requirements.txt --progress-bar off
-              python setup.py develop --all
+              pip install -r habitat-lab/requirements.txt --progress-bar off
+              pip install -e habitat-lab
 
               cd docs
               conda install -y -c conda-forge doxygen
@@ -580,24 +577,7 @@ jobs:
               . ~/emsdk/emsdk_env.sh
               # Generate JS CodeConv
               npm run test_with_coverage
-      -  run:
-          name: Build, install habitat-sim with audio and run audio_agent script
-          no_output_timeout: 10m
-          command: |
-              export PATH=$HOME/miniconda/bin:$PATH
-              . activate habitat;
-              cd habitat-sim
-              pip install -r requirements.txt --progress-bar off
-              pip install imageio imageio-ffmpeg
-              git submodule update --init --recursive --jobs 8
-              python -u setup.py install --build-type "Release" --lto --headless --audio
-              python examples/tutorials/audio_agent.py
-      - save_cache:
-          key: ccache-{{ arch }}-{{ .Branch }}-{{ .BuildNum }}
-          background: true
-          paths:
-            - /home/circleci/.ccache
-      - run:
+      - run: &upload_coverage
           name: Upload test coverage
           command: |
               export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
@@ -620,6 +600,27 @@ jobs:
               #lcov --remove coverage.info "*/test/*" --output-file coverage.info > /dev/null
               #lcov --remove coverage.info "*/tests/*" --output-file coverage.info > /dev/null
               ./codecov -f coverage.info -cF CPP
+      -  run:
+          name: Build, install habitat-sim with audio and run audio_agent script
+          no_output_timeout: 10m
+          command: |
+              export PATH=$HOME/miniconda/bin:$PATH
+              . activate habitat;
+              cd habitat-sim
+              pip install -r requirements.txt --progress-bar off
+              pip install imageio imageio-ffmpeg
+              git submodule update --init --recursive --jobs 8
+              python -u setup.py install --build-type "Release" --lto --headless --audio
+              python examples/tutorials/audio_agent.py
+      - save_cache:
+          key: ccache-{{ arch }}-{{ .Branch }}-{{ .BuildNum }}
+          background: true
+          paths:
+            - /home/circleci/.ccache
+      # Uploading test coverage again for code changed by the above rebuild.
+      # TODO: https://github.com/facebookresearch/habitat-sim/pull/1860 fixes
+      # this better, remove once it's merged
+      - run: *upload_coverage
 
 
 
@@ -748,6 +749,7 @@ workflows:
       - update_docs:
           requires:
             - install_and_test_ubuntu
+            - lab_build_habitat
           filters:
             branches:
               only: main

diff --git a/.clang-format b/.clang-format
@@ -46,7 +46,10 @@ BreakConstructorInitializers: BeforeColon
 BreakAfterJavaFieldAnnotations: false
 BreakStringLiterals: true
 ColumnLimit:     80
-CommentPragmas:  '^ IWYU pragma:'
+# Doc block @ref and @section commands often cause Doxygen parsing bugs if
+# wrapped on multiple lines. If a comment contains them, it's not formatted in
+# any way.
+CommentPragmas:  '(^ IWYU pragma:|@ref|@section)'
 CompactNamespaces: false
 ConstructorInitializerAllOnOneLineOrOnePerLine: true
 ConstructorInitializerIndentWidth: 4

diff --git a/.clang-tidy b/.clang-tidy
@@ -63,6 +63,7 @@ readability-uniqueptr-delete-release,
 -modernize-use-auto,
 -modernize-use-trailing-return-type,
 -bugprone-easily-swappable-parameters,
+-bugprone-forward-declaration-namespace,
 '
 
 CheckOptions:
@@ -75,12 +76,6 @@ CheckOptions:
 - key:             readability-implicit-bool-conversion.AllowPointerConditions
   value:           true
 
-# Let deprecation warnings through. From time to time, Magnum annotates APIs
-# with deprecation warnings, suggesting people to upgrade to newer / better
-# designed / more flexible APIs. Treating such warnings as error is
-# counterproductive, since the first thing you want to do after an upgrade is
-# compiling existing *unchanged* code and ensuring all tests pass, and only
-# then start updating the code.
 WarningsAsErrors: '
 *,
 -bugprone-narrowing-conversions,
@@ -90,6 +85,28 @@ WarningsAsErrors: '
 -clang-analyzer-cplusplus.PlacementNew,
 -cppcoreguidelines-pro-type-member-init,
 -optin.cplusplus.UninitializedObject,
+-readability-implicit-bool-conversion,
 '
 
 HeaderFilterRegex: "src/esp/"
+
+# Comments for particular disabled checks:
+#
+# bugprone-forward-declaration-namespace
+#   This check would make forward declarations work only if each class name is
+#   unique across all namespaces, otherwise it would complain that e.g. Buffer
+#   is defined in Magnum::GL but a forward declaration appears in Magnum::Vk.
+#   Which is just useless, and goes against the point of namespaces.
+# clang-diagnostic-deprecated-declarations
+#   From time to time, Magnum annotates APIs with deprecation warnings,
+#   suggesting people to upgrade to newer / better designed / more flexible
+#   APIs. Treating such warnings as error is counterproductive, since the first
+#   thing you want to do after an upgrade is compiling existing *unchanged*
+#   code and ensuring all tests pass, and only then start updating the code.
+# readability-implicit-bool-conversion
+#   There's many cases of checking counts in if statements, such as
+#   `if(!importer->sceneCount())` for Magnum importers. For those there are no
+#   corresponding `hasScenes()` or such, and having to write `== 0` doesn't
+#   really improve readability in any way. Keeping this as a warning tho, as it
+#   *might* actually be useful in certain cases, just not treating it as an
+#   error.
diff --git a/.gitignore b/.gitignore
@@ -45,7 +45,7 @@ __pycache__/
 
 # Distribution / packaging
 .Python
-build/
+build*/
 develop-eggs/
 dist/
 downloads/
@@ -172,8 +172,6 @@ tests/17DRP5sb8fy
 *.zip
 *.mp4
 src_python/habitat_sim/_ext
-build_js/
-build_corrade-rc/
 
 .setuppy_args_cache.json
 

diff --git a/.gitmodules b/.gitmodules
@@ -34,9 +34,6 @@
 [submodule "docs/m.css"]
 	path = docs/m.css
 	url = https://github.com/mosra/m.css
-[submodule "src/deps/imgui"]
-	path = src/deps/imgui
-	url = https://github.com/ocornut/imgui.git
 [submodule "src/deps/tinyobjloader"]
 	path = src/deps/tinyobjloader
 	url = https://github.com/syoyo/tinyobjloader.git

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -68,15 +68,15 @@ repos:
         exclude: docs/
 
 -   repo: https://github.com/pycqa/flake8
-    rev: 4.0.1
+    rev: 5.0.4
     hooks:
     -   id: flake8
         exclude: docs/
         additional_dependencies: &flake8_dependencies
         - flake8-bugbear==22.1.11
         - flake8-builtins==1.5.3
         - flake8-comprehensions==3.10.0
-        - flake8-return==1.1.3
+        - flake8-return==1.2.0
         - flake8-simplify==0.17.0
 
 -   repo: https://github.com/asottile/yesqa

diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md
@@ -1,5 +1,5 @@
 # Code of Conduct
 
-Facebook has adopted a Code of Conduct that we expect project participants to adhere to.
+Meta Platforms has adopted a Code of Conduct that we expect project participants to adhere to.
 Please read the [full text](https://code.fb.com/codeofconduct/)
 so that you can understand what actions will and will not be tolerated.
diff --git a/DATASETS.md b/DATASETS.md
@@ -1,5 +1,30 @@
 # Datasets commonly used with Habitat-Sim
 
+## Table of contents
+   1. [Habitat test scenes](#habitat-test-scenes)
+   1. [Habitat-Matterport 3D Research Dataset (HM3D)](#habitat-matterport-3d-research-dataset-hm3d)
+   1. [Matterport3D (MP3D) dataset](#matterport3d-mp3d-dataset)
+   1. [Gibson and 3DSceneGraph datasets](#gibson-and-3dscenegraph-datasets)
+   1. [Replica Dataset](#replica-dataset)
+   1. [ReplicaCAD](#replicacad)
+   1. [ScanNet](#scannet)
+   1. [YCB Benchmarks - Object and Model Set](#ycb-benchmarks---object-and-model-set)
+   1. [Previewing dataset assets using Habitat-Sim's viewers](#previewing-dataset-assets-using-habitat-sims-viewers)
+
+## Habitat test scenes
+
+We provide 3 example scenes for performing unit tests in habitat-sim. These can be programmatically downloaded via Habitat's data download utility.
+
+```
+python -m habitat_sim.utils.datasets_download --uids habitat_test_scenes --data-path data/
+```
+
+We also provide PointNav episodes sampled from these scenes for performing unit tests in habitat-lab. These can also be downloaded using Habitat's data download utility.
+
+```
+python -m habitat_sim.utils.datasets_download --uids habitat_test_pointnav_dataset --data-path data/
+```
+
 ## Habitat-Matterport 3D Research Dataset (HM3D)
 
 Details: [https://aihabitat.org/datasets/hm3d/](https://aihabitat.org/datasets/hm3d/).
@@ -23,13 +48,13 @@ First, you will need to generate a matterport API Token:
 
 Now, you are ready to download. For example, to download the minival split, use:
 ```
-python -m habitat_sim.utils.datasets_download --username <api-token-id> --password <api-token-secret> --uids hm3d_minival
+python -m habitat_sim.utils.datasets_download --username <api-token-id> --password <api-token-secret> --uids hm3d_minival_v0.2
 ```
 
-By default, downloading the data for train/val/example scenes also pulls in the semantic annotations and configs for [HM3D-Semantics v0.1](https://aihabitat.org/datasets/hm3d-semantics/). To download only the semantic files for these splits, use the uid `hm3d_semantics`.
+By default, downloading the data for train/val/example scenes also pulls in the semantic annotations and configs for [HM3D-Semantics v0.2](https://aihabitat.org/datasets/hm3d-semantics/). To download only the semantic files for these splits, use the uid `hm3d_semantics`.
 
 
-By default the download script will only download what is needed for Habitat-Sim.  You can add `_full` to the uid to download the raw glbs and the obj+mtl's in addition to what is needed for use with Habitat-Sim.
+By default the download script will only download what is needed for Habitat-Sim. You can add `_full` to the uid to download the raw glbs in addition to what is needed for use with Habitat-Sim.
 
 ### Loading semantics for HM3D
 

diff --git a/LICENSE b/LICENSE
@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) Facebook, Inc. and its affiliates.
+Copyright (c) Meta Platforms, Inc. and its affiliates.
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal