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@alters-mit alters-mit released this 24 Jan 20:29
· 137 commits to master since this release
v1.12.23
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Learn about vigilant mode.

This is an incremental update to v1.12. If you are already using a v1.12 release, you can safely upgrade without having to change any of your code.

Command API

New Commands

Command Description
set_ui_color Set the color of a UI image or text.

Output Data

Modified Output Data

Output Data Modification
Occlusion Removed: get_sensor_name()
get_occluded() returns an integer between 0 and 255 instead of 0 and 1. The number now describes the fraction of the image's pixels are occupied by objects, as opposed to background meshes.
Added: get_unoccluded(). An integer between 0 and 255 describing what fraction of the image's pixels are occupied by objects if background meshes aren't rendered.
To get the value that get_occluded() would have returned in prior versions of TDW:
1 - (occ.get_unoccluded() - occ.get_occluded()) / 255

Build

  • Fixed: Occlusion is highly inaccurate, especially in scenes other than the ProcGen Room.
  • Fixed: The command apply_force doesn't work as expected in most scenes.

Documentation

Modified Documentation
Document Description
lessons/visual_perception/occlusion.md Updated document to describe the new Occlusion data.
api/output_data.md Improved the documentation for all positions and rotations.
Improved the documentation of LocalTransforms.get_forward()
Assets 5
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