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Releases: lge-ros2/cloisim

CLOiSim-2.5.0

27 Jun 16:59
@hyunseok-yang hyunseok-yang
2.5.0
2488ca1
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CLOiSim-2.5.0

Build and Tested Environment

  • Processor: AMD® Ryzen 9 3900x 12-core processor × 24
  • Memory: 31.3 GiB
  • Graphics: NVIDIA Corporation TU102 [GeForce RTX 2080 Ti]
  • OS: Linux/Ubuntu 20.04.2 LTS (64-bit)

Changes

Major

Newly added

  • CLOiSim Messages: add new protobuf message -> "transform_stamped"
  • CLOiSimPlugin: Add new CLOiSimPlugin and Devices -> JointControlPlugin
    • Implement PublishingTF() method for JointControlPlugin
  • SensorDevice: Separate Joints class into JointCommand and JointState
  • CLOiSimPlugin.Module: add new module(TF Class) for Transform
  • CLOiSimPlugin: Implement joint_states publishing
    • Apply frequecny for publishing joint_states by SDF parameter

Mainly changed

  • SensorDevice: Modifiy Clock device to filter time dupliation
  • SensorDevice: Change device class name, MicomInput -> MicomCommand
  • SensorDevice: Modify RenderTexture for Lidar and Camera
  • SensorDevice: Make it possible to set "link" and "model" wheel object both
  • CLOiSimPlugin: Reconstruct CLOiSimPluginTrhead, CLOiSimPlugin, Transport
  • CLOiSimPlugin: Possible to set parentlink name in SetTransformInfoResponse
  • CLOiSimPlugin: remove other parts pose list in DevicePose and moved into micom plugin
  • CLOiSimPlugin: Modify interface("request_static_transforms") for service thread in MicomPlugin
  • CLOiSimPlugin: handling transforms for TF from SDF plugin paramters in MicomPlugin
  • SDF: Modify SurfaceFriction model when import collision

Minor

  • Mesh: Add procedural mesh generation for Capsule
  • CLOiSimPlugin: Add new CLOiSimPlugin Type and reset target device when CLOiSimPlugin.Reset() is called
  • CLOiSimPlugin: Add new DevicePose class to handle the pose of parts and control transform info in SetTransofrmInfoResponse()
  • CLOiSimPlugin: Modify PublishTfThread() -> give sleep time after publish tf data
  • CLOiSimPlugin.Module: Modify coroutine method in DoorControl and LiftControl for Elevator module
  • DeviceHelper: Modify MicomCommand for understanding coordinate converting system
  • SDF.Helper: Reconstruct Jointlist in Link script
  • SDF.Helper: Recontstruct PoseControl
  • SDF.Helper: Modify SDF.Helper.Link
  • SDF: add geometry type for parsing SDF geometry element
  • SDF: make GetModelLinkName() method to resolve link naming in SDF
  • SDF: Add parsing "capsule" element in Importer
  • SensorDevice: remove SetDeviceParameter() method and implement cam paramter only for Camera device
  • SensorDevice: Remove micom device -> handling MicomCommand, MicomSensor device directly in MicomPlugin
  • SensorDevice.Module: add protection code for MotorControl
  • SensorDevice.Module: Add protection code in Arituclation module class
  • SensorDevice.Module: Modify Motor module to inherit from JointControl module

Bug fix

  • SensorDevice: Bug fix ressetting IMU Sensor
  • SensorDevice.Module: Fix GetMotorVelocity() method for odometry -> using joint position
  • GUI: Bug fix delete multiple props
  • SDF: Fix SDF.Implement.Joint and ImportJoint -> parsing dynamics paramter
  • SDF: Bug fix on SDF.import.Link script -> handling convex for meshcollider
  • SDF: Fix finding target link for joint connection in SDF.Import.Joint
  • SDF: Bug fix Make collision area function in SDF.Implement.Collision script
  • Core: Performance tuned and bug fixed for NavMeshBuilder
  • CLOiSimPlugin.Base: Fix GetPose() method in TF class

Version matching for this release

For binary release version, just run './run.sh' script after extract compressed file.

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CLOiSim-2.4.3

06 Jun 14:27
@hyunseok-yang hyunseok-yang
2.4.3
12d31bd
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CLOiSim-2.4.3

Build and Tested Environment

  • Processor: AMD® Ryzen 9 3900x 12-core processor × 24
  • Memory: 31.3 GiB
  • Graphics: NVIDIA Corporation TU102 [GeForce RTX 2080 Ti]
  • OS: Linux/Ubuntu 20.04.2 LTS (64-bit)

Changes

Major

  • General: Change to normal class from MonoBehaviour inherited class
    • BridgeManager
    • SimulationService, MarkerVisualizerService
    • CLOiSimPlugins, CLOiSimThread, Transporter

Minor

  • Device: remove adjust ratio waiting period variable for sensor

Bug fix

  • Sensor Device: Enhance precision for spherical coordinate and GPS sensor device using double type struct in SphericalCoordinates, GPS

Version matching for this release

For binary release version, just run './run.sh' script after extract compressed file.

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CLOiSim-2.4.2

05 Jun 14:49
@hyunseok-yang hyunseok-yang
2.4.2
8b71497
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CLOiSim-2.4.2

Build and Tested Environment

  • Processor: AMD® Ryzen 9 3900x 12-core processor × 24
  • Memory: 31.3 GiB
  • Graphics: NVIDIA Corporation TU102 [GeForce RTX 2080 Ti]
  • OS: Linux/Ubuntu 20.04.2 LTS (64-bit)

Changes

Major

  • Upgrade Unity editor version -> 2020.3.11f1 (LTS)
  • SDF: SDF.Parser for Noise -> Update sensor type in SDF.Parser and Importer
  • Sensor: Recontruct MultiCamera Sensor Device
  • Sensor: Add new Noise(gaussian) modules and apply to Lidar/GPS/IMU
  • Mesh: caching mesh(Assimp Mesh Loader and ProceduralMesh) loaded for performance

Minor

  • SDF: Change SDF.Ray to SDF.Lidar
  • DepthCamera: unload compute shader resource when destroy
  • ObjectSpawning: set new physics material for props
  • MainCamera: Apply FXAA in Main Camera

Bug fix

  • Mesh: mesh for collision does not imported correctly. (Revert "disable some of post processing step for Assimp Library", commit 8f457b5)
  • Lidar: handling angle (0~360) does not work properly

Version matching for this release

For binary release version, just run './run.sh' script after extract compressed file.

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CLOiSim-2.4.1

01 Jun 18:50
@hyunseok-yang hyunseok-yang
2.4.1
7909843
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CLOiSim-2.4.1

Build and Tested Environment

  • Processor: Intel® Core™ i9-8950HK CPU @ 2.90GHz × 12
  • Memory: 32GB
  • Graphics: NVIDIA Corporation GP104BM [GeForce GTX 1080 Mobile]
  • OS: Linux/Ubuntu 20.04.2 LTS

Changes

Major

  • Upgrade Unity editor version -> 2020.3.10f1 (LTS)

  • SDF: Enhance time for memory handling in SDF.Helper.Link

  • Sensor Device: Restructuring and refactoring for Micom device module

  • ProjectSettings: Update DynamicsManager for physics

  • Core: Set parameters for nav mesh settings

  • Transporter: refactoring and reconstructing for transporter

Minor

  • Sensor Device: return null when scan laser ranges has error in Lidar sensor device
  • Sensor Device: Change AddComponent to RequireComponent attirbute in Devices
  • Sensor Device: change radius ratio of capsule collider for actor
  • Sensor Device: Change method parameter in SetTextureBufferData
  • Sensor Device: Separate Camera and Camera.CameraData class
  • Sensor Device: Separate Lidar and Lidar.LaserCameraData class
  • Sensor Device: Modify Visualize() lidar sensor
  • Sensor Device: move SetFloat() method for Computeshader into SetupTexture() method in DepthCamera
  • General: Stop Coroutine when application is closing for stability
  • General: Remove return yield and change wait period when reset is called
  • General: Reduce boxing/unboxing for object
  • SDF: add sdf version in SDF.Root (just version type)
  • Core: Reduece log in BridgeManager
  • Core: Add Error mode for DebugLogWriter
  • Animation: Add const ratio(0.8) for controlling animation speed.
  • CLOiSimPluings: Move classes related to Elevator in Devices/Modules into CLOiSimPlugins/Modules
  • CLOiSimPluings: Modify GroundTruthPlugin and actor
    • update foot print after end of frame
    • set size of capsule collier and navmeshagent on LateUpdate() only once
  • UI: Enhance time for following and update text marker in markerVisualizer
  • UI: add string builder for hit point displaying
  • UI: Update MainScene.unity -> Off opaque/depth texture in MainCamera

Bug fix

  • CLOiSimPlugins: bug fix in Elevatorsystem -> parsing wrong attribute
  • Sensor Device: Fix the index of laser data for vertical ray and cutoff range
  • Sensor Device: Fix LaserFilter (it was not working properly after implement 3d lidar)
  • Sensor Device: Fix order of creating in MicomSensor/Input in Micom Device
  • Sensor Device: Fix drawing gizmos for collision contact info in SDF.Helper.Link (only works in Editor mode)

Version matching for this release

For binary release version, just run './run.sh' script after extract compressed file.

Assets 3
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CLOiSim-2.4.0

27 May 07:53
@hyunseok-yang hyunseok-yang
2.4.0
56d7075
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CLOiSim-2.4.0

Build and Tested Environment

  • Processor: Intel® Core™ i9-8950HK CPU @ 2.90GHz × 12
  • Memory: 32GB
  • Graphics: NVIDIA Corporation GP104BM [GeForce GTX 1080 Mobile]
  • OS: Linux/Ubuntu 20.04.2 LTS

Changes

Major

  • Upgrade Unity editor version -> 2020.3.9f1 (LTS)

  • Mainly changed

    • MainScene: Change the name of gameobject "Models" -> "World"
    • Device: Support calculating micom odometry without imu (using only odom info)
    • Device: Separate DeviceMessage and DeviceMessageQueue -> enhance GC waste
    • CLOiSimPlugin: Change protobuf message for Clock, Param -> WorldStatistics
    • CLOiSimPlugin: Change MemoryStream to DeviceMessage
    • CLOiSimPlugin: Separate the thread related methods into CLOiSimPluginThread
    • CLOiSimPlugin: Remove 'request_wheel_info' in MicomPlugin
    • SDF: Modify Import.Actor + Base, Helper.Actor -> return created object after import actor
    • Change static variable and methond in WorldNavMeshBuild and make it possible to access WorldNavMesbuild through Main

  • Newly added

    • Core: WorldNavMeshBuilder added for AI(actor plugin) and it handles multiple nav mesh data.
    • UI: Display hit point by left click
    • CLOiSimPlugin: ActorPlugin, ActorControlPlugin, GroundTruthPlugin
      • GroundTruthPlugin: reconstruct ObjectTracking struct and calculate footrprint and considering orientation.
      • Enhance retrieving footprint for meshed object in GroundTruthPlugin
      • GroundTruthPlugin: update position/veclotiy and footprints for each tracking object
      • GroundTruthPlugin: Move all tracking object variable in SDF.Helper into GroundTruthPlugin class
    • CLOiSimPlugin: Add new plugin type -> ACTOR
    • Device: Micom = MicomInput(device) + MicomSensor(device)
    • CLOiSim messages: perception, percpetion_v (for GroundTruthPlugin)
    • UI: Add 'click to move' function on display using mouse right button after select the actor

Minor

  • Plugin: Upgrade library

    • protobuf-net 12.0.3 -> 13.0.1

  • Package: Update version

    • render-pipelines.universal: 10.4.0 -> 10.5.0
    • shadergraph: 10.4.0 -> 10.5.0
    • searcher: 4.3.1 -> 4.3.2

  • Package: Add new dependancy

    • com.unity.ai.navigation.components

  • ProjectSettings: Add NavMeshAreas

  • General: Change Script Execution Order through script.

  • Core: apply navmeshobstacle in default for ObjectSpawning

  • Core: Add SimulationWorld component in Main Script -> removed in MainScene.unity

  • Core: Change root object variables to static for perforamance issue (Reduce GameObject.Find())

  • SDF: separate Import.Loader and Import.Plugin

  • SDF: Remove SDF.Helper.PluginParam and just reuse SDF.Plugin

  • SDF: Add NavMeshAgent component for Actor in default

  • SDF: Modify and reconstruct SDF.Helper classes as GroundTruth Plugin introduced

  • SDF: Modify Import.Base code -> return world root object from ImportWorld() and import plugins for world

  • SDF: Create new SDF.World when xml loading is succeeded in SDF.Root

  • DeviceHelper: Modify GetModelName() method -> possible to search Actor also

  • DeviceHelper: Add new Convexhull calculatiing method

  • SDF2Unity: Add new method, Get position from messages.Vector3d

  • CLOiSimPlugin: Chagne parts name in Simulation World class

  • CLOiSimPlugin: change Type to ICLOiSimPlugin.Type

  • CLOiSimPlugin: Modify SetROS2CommonInfoResponse() methoh, possible to parse multiple frame_id

  • MeshLoader: disable some of post processing step for Assimp Library

  • Devices, CLOiSimPlugins: Change code for handling pluginParamters

  • Device: Change device mode type for MultiCamera sensor device, TX -> TX_THREAD

  • Device: Remove WaitForEndOfFrame method for coroutine in sensor device class

  • Device: Change devcie mode type for clock: THREAD_TX -> NONE and removed fixed update rate

    • set time in FixedTime() method
    • clock frequency depends on FixedTime()

  • Mesh: change target variable mesh, material to sharedMesh, sharedMaterial

  • UI: Modify SimulationDisplay class -> change string to stringbuilder for event log message

  • UI manipulating enhanced

    • can select multiple object with shift key
    • Can remove the props using delete key in ObjectSpawning
    • add ObjectSpawning class in Main script
    • can cancel selection by clicking same object again

Bug fix

  • SensorDevice: AddCamera() method in MultiCamera sensor device
  • SDF: handling convex flag for multiple collisions for children of Articulation body in SDF.Import.Link
  • SDF: Bug fix for reset simulation function in Helper.Actor -> actor with animation does not reset to initial pose.
  • CLOiSimPlugin: LaserPlugin
  • CLOiSimPlugin: Stop micom Wheel drive when reset is called
  • CLOiSimPlugin: Fix SetEmptyResponse() method, message.Empty -> message.Param
    • GroundTruthPlugin: Fix calculation of footprints
  • Core: fix random coloring for obstacle in ObjectSpawning
  • Device: fix method name in IMU, Reset() -> OnReset()
  • MeshLoader: fix animation importing and sdf.actor -> handling multiple animation in SDF element
  • SDF: destory objects after merge mesh for collision
  • SDF2Unity: fix combine transform matrix in SDF2Unity.Mesh

Version matching for this release

For binary release version, just run './run.sh' script after extract compressed file.

Assets 3
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CLOiSim-2.3.1

11 May 10:13
@hyunseok-yang hyunseok-yang
2.3.1
396872c
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CLOiSim-2.3.1

Build and Tested Environment

  • Processor: Intel® Core™ i9-8950HK CPU @ 2.90GHz × 12
  • Memory: 32GB
  • Graphics: NVIDIA Corporation GP104BM [GeForce GTX 1080 Mobile]
  • OS: Linux/Ubuntu 20.04.2 LTS

Changes

Major

  • Upgrade Unity editor version
    -> 2020.3.7f1 (LTS)

  • Sensor Device related

    • parsing output type for laser scan in LaserPlugin
    • Memory handling for native array in Camera Sensor device
    • Modify Lidar Sensor Device code
      • using callback function for AsyncGPUReadackRequest
      • native array memory handling for LaserCamData and DepthCamBuffer structure
    • handling Memory leackage for nativearray in Lidar Sensor devcie

  • SDF related

    • Change wheel properties in MicomPlugin
      : wheel/base -> wheel/tread

Minor

  • Versions

    • Update app version info in Project settings
      : 2.3.0 -> 2.3.1

  • Sensor Device

    • Add protection code in depth camera
      • null check for compute shader
    • Change class name
      • DevicePlugin -> CLOiSimPlugin
      • DevicesPlugin -> CLOiSimMultiPlugin
    • Handling CLOiSimPlugin when destory the objects before close the application -> Stop thread
    • Change to reusable command buffer in Camera Sensor device
    • Trying to save memory in Motor Module and it does not call SetTargetVelocityAndForce() method when direction is switched
    • missing call base method from OnDestroy() method in inherited class
    • Change global spherical coordniates for GPS sensor device in DeviceHelper

  • General

    • Disable BakeMesh option in ProjectSeetings

  • Services

    • remove websocket when destory the object

  • GUI

    • add yield for coroutine in MarkerVisualizer
    • Moved Drawing contact line on Editor mode into OnDrawGizmos() method for SDF.Helper.Link() class

Bug fix

  • Sensor device
    • Bug Fix: missed calling ProcessDevice() method in DeviceThread()

Version matching for this release

  • samples_resource: v1.4.0
  • cloisim_ros: foxy-2.9.0
  • sim_device: dashing version does not support anymore since dashing was end-of-support.

For binary release version, just run './run.sh' script after extract compressed file.

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CLOiSim-2.3.0

08 May 13:52
@hyunseok-yang hyunseok-yang
2.3.0
09f2285
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CLOiSim-2.3.0 Pre-release
Pre-release

Build and Tested Environment

  • Processor: AMD® Ryzen 9 3900x 12-core processor × 24
  • Memory: 32GB
  • Graphics: NVIDIA Corporation TU102 [GeForce RTX 2080 Ti]
  • OS: Linux/Ubuntu 20.04.2 LTS

Changes

Major

  • Upgrade Unity editor version
    -> 2020.3.7f1 (LTS)

  • General

    • Change handling Clock object in DeviceHelper
      • set clock object in Main class

  • Rendering

    • Apply new render pipeine and update proejct setting for URP(universal render pipeline)
      • Update UniversalRenderPipelineAsset settings
      • Update Graphic settings and URP pipeline
      • Change Anti aliasing quality(MSAA) -> 2X
    • Apply new shader(universal RP) as a material
    • Modify Code for applying URP
    • Modify the code that apply materials for transparent and opaque mesh
    • Update materials and drawing in RuntimeGizmo for URP
    • Change the order of calling mesh optimization in ProceduralMesh

  • Sensor Device related

    • Camera & DepthCamera
      • Apply Compute Shading for depth buffer scaling in R16 data format(used in realsense)
      • Modify rendering part for Camera Sensor device (+depth sensor)
      • Destroy and release compute shader in Camera sensor device
      • Change member variable name in Camera modules
      • Modify the code that applies depth buffer handling for laser sensor device after change UniversalRP
    • Lidar
      • Modify Lidar Sensor device to support Vertical lidar data
      • calculate the total samples considering Vertical samples in laser scan
      • Remove adjusting waitingPeriodRatio in Lidar Sensor device
      • Change Array.Copy to Buffer.BlockCopy in Lidar Sensor Device
      • Change batchsize for JobSchedule in Lidar
      • Modfiy Sensor device to enhance performance: remove Array.Reverse() -> handling depth shader
    • Micom
      • Modify the interface in Micom Device: MicomInput -> use Twist msg , move 'reset_odometry' handling into MicomSensor
        • Add new protobuf message: Twist, Empty
      • Add protection code for finding wheel motor in MicomSensor device
      • Remove unused method in Motor modules
    • Add new Device Mode using System.Thread in Device Class: new Mode (TX_THREAD, RX_THREAD)
      • Change device mode type(TX -> TX_THREAD) for Camera, GPS, Lidar, MicomInput, MicomSensor, IMU, Clock
      • Change default update rate(100 -> 50) for Clock
      • remove calling ProcessDeviceCoroutine() method in DeviceThreadTx() and DeviceThreadRx()

  • SDF related

    • Change the order of calling SDF importing method
      • call "ImportJoints" and "ImportPlugins" methods after call "AfterImportModel()" method
    • Remove convex handling in Import.Link() method
    • Modify SDF parser for lidar vertical element

  • Physics related

    • make it convex false for Plane collision
    • Modify code that handling convex for articulation body

Minor

  • Versions

    • Update app version info in Project settings
      • 2.2.1 -> 2.3.0
    • Update package version
      • textmeshpro: 3.0.5 -> 3.0.6

  • Sensor Device

    • Handling thread and coroutine after object destroy or stop
    • renaming variables in DepthCamera
    • Modify Reset() method in IMU
    • Code refactoring
      • Lidar sensor device
        • Change member variable naming in Lidar class
          • Do not use a prefix for member variables (, m, s_, etc.).
      • Lidar Sensor device to enable vertical lidar data
      • supporting vertical lidar in Lidar Sensor Device

  • SDF related

    • Parse and implement gravity value in Import.World
    • Code refactoring and code clean-up
      • SDF.Helpler.Link, Implement.Joint, Import.Joint
    • code refactoring for SDF.Implement collision and visual
      • Combine redundancy method -> MergeMeshes() method
    • Add new method in SDF2Unity

  • General

    • Change script execution Order
      • Simulationworld and Main
    • Change class name
      • CLOiSimWorld -> SimulationWorld
    • Apply coding style -> Do not use a prefix for member variables (, m, s_, etc.).
      : Devices, Device.Camera, UI and Tools/SDF
    • Call Resources.UnloadUnusedAssets() when destroy TransformGizmo

  • Services

    • Set color for Text Marekrs

  • GUI

    • Change properties in TransformGizmo
    • Apply random color for props deploying
    • Apply TransformGizmo drawing for only MainCamera
    • Move Materials in RuntimeGizmo
    • Add simulationDisplay in BridgeManager to print error message
    • Code refactoring for UI and enhance styling GUISkin
    • make it reusable variables for UI simulation display
    • Separate SimulationDisplay Class
      • Change color for FPS display
      • Separate the GUI part in Object spawning class
      • Change the position of FPS info in simulation display
      • Minor adjustment for UI position
      • Add new Help Menu: new UI button for help menu
      • add mouse wheelblocking flag and change amount of weel movement in CameraControl

Bug fix

  • UI

    • add null protection in UI Gizmo
    • Fix Gizmo manipulation for actor object

  • Services

    • Fix null object handling in simulation service for 'markers'

  • Sensor device

    • Bug fix in Lidar Sensor Device
    • Fix setting intial parts pose in MicomSensor

  • SDF related

    • Bug fix in SDF.Entity parser
    • (crash issue)Bug fix: Change the order of importing SDF elements
      • before: Models -> Links -> visual -> collision -> joint -> plugin
      • after: Models -> Links -> visual -> collision -> joint(store only information) -> plugin
        import and implements joints after all models are loaded.

Version matching for this release

  • samples_resource: v1.3.0
  • cloisim_ros: foxy-2.8.2
  • sim_device: dashing version does not support anymore since dashing was end-of-support.

For binary release version, just run './run.sh' script after extract compressed file.

Assets 2
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CLOiSim-2.2.1

18 Apr 13:21
@hyunseok-yang hyunseok-yang
2.2.1
07ce10b
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CLOiSim-2.2.1

Build and Tested Environment

  • Processor: AMD® Ryzen 9 3900x 12-core processor × 24
  • Memory: 32GB
  • Graphics: NVIDIA Corporation TU102 [GeForce RTX 2080 Ti]
  • OS: Linux/Ubuntu 20.04.2 LTS

Changes

Major

  • Upgrade Unity editor version
    -> 2020.3.4f1

  • Sensor Device related

    • Reset target velocity(linear/angular/left/right) when reset is called
    • Change a condition to call ConvertToStaticLink() method
      • set child articulation body immovable in ConverToStaticLink() method

Minor

  • Versions

    • Update app version info in Project settings
      • 2.2.0 -> 2.2.1
    • Update package version
      • textmeshpro: 3.0.4 -> 3.0.5

  • SDF related

    • visual
      • Parsing meta element in visual element and import
    • sensor
      • Parsing SDF element in
      • Fix SDF parser when parsing camera.clip
        • null checking
    • geometry
      • Add name on mesh geometry game object
      • Set name for mesh geometry gameobject
    • actor
      • Add null check for animation when importing SDF.Actor
      • remove bone rotation in loading animation class
      • apply scaling on create skin object and loading animation
      • correct rotation, position, scaling after loaded

  • General

    • update default file root directories in MainScene.unity

  • GUI

    • Add text color for event/error message
      • red: event
      • green: error

Bug fix

  • Change properties of capsule collider in Actor

  • Fix display location of FPS when resizing window

  • SDF related

    • light
      • Bug fix wrong light type in SDF Light importer
    • geometry
      • fix the roation and scaling of mesh(+skin) importing(by assimp)
      • Fix mesh importing for collada files
      • fix rotation for Actors
        • bind pose, bones and skin
      • fix the code that create 'geometry(mesh)' game objects in collision object that unmerged and merged also
        • fix gizmo transform after selection
        • Modify code in LiftControl(Elevator) due to change of object structure in Collision object
    • joint
      • Fixed joint for articulation body connection
        • Change structure of geometry object for primitive mesh
        • enable convex in mesh collider for articulation body and disable convex for non-articulation body

Version matching for this release

For binary release version, just run './run.sh' script after extract compressed file.

Assets 3
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CLOiSim-2.2.0

11 Apr 16:25
@hyunseok-yang hyunseok-yang
2.2.0
5a80076
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CLOiSim-2.2.0

Build and Tested Environment

  • Processor: AMD® Ryzen 9 3900x 12-core processor × 24
  • Memory: 32GB
  • Graphics: NVIDIA Corporation TU102 [GeForce RTX 2080 Ti]
  • OS: Linux/Ubuntu 20.04.2 LTS

Changes

Major

  • Upgrade Unity editor version
    -> 2020.3.3f1

  • SDF related

    • Add parsing(Import/Implement) Lights and spherical coordinates elements in World element
    • Add default argument for name and type attribute in SDF.entity
    • Separate Import.World method from Import.Loader
    • gui element in World element is added for SDF parser
    • call ParseElements() method in SDF.Entity Base class
    • Apply rotation inertia when implement SDF link element
    • Do ImportModels() and ImportActors() methods in ImportWorlds() method

  • Sensor Device related

    • Apply JobParallel computing for laser data

    • Code refactoring for Device

    • Enhance Camera worker

    • Adjust waiting period ratio for lidar

  • Physics related

    • Change default properties for Root Articulation Body
    • Set 'Plane' Layer for plane collision object

  • File and Folder Architectures

    • Separate the core scripts into Core directory

  • Project Settings related

    • Add new tag
      • Light
    • Add new Layers
      • Plane

Minor

  • Versions

    • Update app version info in Project settings
      : 2.1.0 -> 2.2.0
    • Upgrade Plugin library
      • protobuf-net 3.0.73 -> 3.0.101
    • Update Packages
      • render-pipelines.core: 10.3.2 -> 10.4.0

  • Code refactoring

    • Naming
      • Change method name in Clock class
      • Change method name in Base Device class
      • Change method name in SDF2Unity class
    • Code refactoring for SDF.Pose parser
    • SDF2Unity
    • move 'relative_to' attribute in element into SDF.Pose class
    • Handling articulationbody in AfterImportModel() method
    • change the code to import SDF contents through Coroutine.

  • Code cleanup

    • Remove SetArticulationBody() method in PoseControl
    • Remove useless code in SDF.World
    • Actors and Lights do not need to return object
    • Remove EnableSelfCollision() method since AriticulationBody is applied.

  • Logging related

    • Change Loglevel for assimp class
    • Suppress printing warning log in ParseElements() method.
    • Remove useless log print in GPS device

  • Update Render setting in MainScene.unity

  • Change Company name in Projectsettings

Bug fix

  • PoseControl related

    • Reset the pose for only root articulation body in PoseControl

    • Enabling to reset the pose of Actors

      • reset waypoints
      • reset animation clip(rewind)

  • GUI related

    • Prevent selecting the object if object has static property.
    • Prevent selecting the object which contain 'Plane Collision Object' for transform gizmo
    • Show only the object which has articulation body in Following object list

  • Sensor Device related

    • Modify and fix GPS sensor deviee and spherical coordinates class
      • fix axis for spherical coordinates
      • Import reference values from world element for Spherical coordinates
    • Fix spherical coordinates and heading offset for GPS sensor device

  • SDF related

    • Fix importing light
      • direction
    • fix error when world does not have actors
    • Fix wrong conversion in SphericalFromLocal() method
    • Add protection code for extracting resource paths from system environments
      • null check

Version matching for this release

For binary release version, just run './run.sh' script after extract compressed file.

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CLOiSim-2.1.0

22 Mar 02:54
@hyunseok-yang hyunseok-yang
2.1.0
2b055b4
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CLOiSim-2.1.0

Build and Tested Environment

  • Processor: Intel® Core™ i9-8950HK CPU @ 2.90GHz × 12
  • Memory: 32GB
  • Graphics: NVIDIA Corporation GP104BM [GeForce GTX 1080 Mobile]
  • OS: Linux/Ubuntu 20.04.2 LTS

Changes

Major

  • Enable parsing SDF Actor

  • import and implement actors

    • set skin
    • set animation
      • Import animation clip for animation component
    • set script

  • modify SDF2Unity Mesh script using assimp-net

  • Separate mesh handling methods in SDF2Unity into MehLoader

  • Code refactoring for Assimp Mesh Loader

    • fix rotation for skin

  • Parse and implement Animation in actor sdf element

  • code modified for animation curve in animation clip

  • Fix rotation for animation bone axis

  • apply loop pose for legacy animation clip

    • it does not add x curves if node is root

  • add capsule collider for actor

  • Sorting waypoint list by time when parsing actor element

  • Apply following waypoint for actor

  • Modify Transform Gizmo for actor

    • only support tranlate the actor with trajectories in script
    • suppport translate and rotation for the actor with trajectories

Minor

  • Print error message on UI when it failed to load document(world file)

  • change type of Time to double
    -> Unity support .....timeAsDouble

  • Modify textfield property in object spawning

    • text alignment

  • Code refactoring for MeshLoader

    • separate bone loading

  • Change file name
    : ProdeceduralMesh -> ProceduralMesh (typo)

  • Move Assimp.XXXXX.cs files into Tools/Mesh/*

  • Change order of calling method in ProceduralMesh

    • optimize mesh before recalculate others...

  • Fix the type of SDF element in actor
    : bool -> double

Bug fix

  • Fix properties of simulation display

    • bug fix height position for textbox of event and simulation message when resizing windows
    • resize width of event message

  • bug fix in SDF parser

    • GetValues() method had wrong xpath

  • Change order of calling method in SDF.Implement.Collision/Visual

    • optimize mesh before recalculate others...

  • Handling Bone and tangent for mesh when import meshes

  • Fix bone list and bind pose matrix in SkinnedMeshRenderer for actor

  • bone index for bind pose is important
  • set the bind poses and bon weights after combine meshes

Version matching for this release

For binary release version, just run './run.sh' script after extract compressed file.

Assets 3
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