v0.4.0

Precompiled binaries

• Windows: SpearSim-v0.4.0-Win64-Shipping.zip
• macOS: SpearSim-v0.4.0-Mac-Shipping.zip
• Linux: SpearSim-v0.4.0-Linux-Shipping.zip

Scenes

Windows

• kujiale_0000-v0.4.0-Windows.pak
• kujiale_0001-v0.4.0-Windows.pak
• kujiale_0002-v0.4.0-Windows.pak
• kujiale_0003-v0.4.0-Windows.pak
• kujiale_0004-v0.4.0-Windows.pak
• kujiale_0005-v0.4.0-Windows.pak
• kujiale_0006-v0.4.0-Windows.pak
• kujiale_0007-v0.4.0-Windows.pak
• kujiale_0008-v0.4.0-Windows.pak
• kujiale_0009-v0.4.0-Windows.pak
• warehouse_0000-v0.4.0-Windows.pak

macOS

• kujiale_0000-v0.4.0-Mac.pak
• kujiale_0001-v0.4.0-Mac.pak
• kujiale_0002-v0.4.0-Mac.pak
• kujiale_0003-v0.4.0-Mac.pak
• kujiale_0004-v0.4.0-Mac.pak
• kujiale_0005-v0.4.0-Mac.pak
• kujiale_0006-v0.4.0-Mac.pak
• kujiale_0007-v0.4.0-Mac.pak
• kujiale_0008-v0.4.0-Mac.pak
• kujiale_0009-v0.4.0-Mac.pak
• warehouse_0000-v0.4.0-Mac.pak

Linux

• kujiale_0000-v0.4.0-Linux.pak
• kujiale_0001-v0.4.0-Linux.pak
• kujiale_0002-v0.4.0-Linux.pak
• kujiale_0003-v0.4.0-Linux.pak
• kujiale_0004-v0.4.0-Linux.pak
• kujiale_0005-v0.4.0-Linux.pak
• kujiale_0006-v0.4.0-Linux.pak
• kujiale_0007-v0.4.0-Linux.pak
• kujiale_0008-v0.4.0-Linux.pak
• kujiale_0009-v0.4.0-Linux.pak
• warehouse_0000-v0.4.0-Linux.pak

Changes

This release includes the following new user-facing features and improvements.

• We are releasing nine new photorealistic Kujiale scenes. The following image of kujiale_0004 was captured in SPEAR running at 4K resolution at 50 fps.

• We are re-releasing our warehouse_0000 scene (pictured below), which is now fully compatible with Unreal Engine 5.

• We have re-enabled our Fetch robot agent, which is now fully compatible with Unreal Engine 5 (pictured above). We have also implemented an improved tutorial, open_loop_control_fetch, demonstrating how to interact with our Fetch agent in a mobile manipulation application.

• We have made several usability and readability improvements to our code.