CLOiSim-4.9.8

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor x 32
• Memory: 128.0 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 22.04.5 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2022.3.56f1 (LTS)
• UI: Add dropdown menu in Camera View Menu to select perspective or orthographic mode
• UI: CameraControl modified to handle Orthographic and Perspective camera control

Minor

Bug fix

• UI: Bug fixed in CameraViewMoving
• Device: Modify the queue handling code in Camera and Lidar sensor to resolve the problem that destroying object takes too long time every device is removed and destroyed.

Version matching for this release

• ros2 jazzy

  • cloisim_ros: jazzy-4.6.2

• ros2 humble

  • cloisim_ros: humble-3.11.2

• ros2 foxy

  • foxy will not support the latest version of CLOiSim, backporting is not planned

• cloi_common_interfaces is included in cloisim_ros as a git submodule

• resources

  • samples_resource: v3.2.1
  • cloi_resources: 5.2, only for LGE internal user

What's Changed

• Modify/camera UI by @hyunseok-yang in #341
• Merge from 'develop' into 'main' for CLOiSim-4.9.8 by @hyunseok-yang in #342

Full Changelog: 4.9.7...4.9.8

CLOiSim-4.9.7

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor x 32
• Memory: 128.0 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 22.04.5 LTS (64-bit)

Changes

Major

• SDF.Implement: possible to implement orthographic camera configuration in <sdf/world/gui>
• SDF.Parse: parse <track_visual> in <world/gui>
• SDF.Implement: follow target object through Track Visual element in SDF
• Sensor: support orthographic camera sensor mode
• General: possible to adjust Orthographic Size using mouse wheel or keyboard input
• General: Fix and Update Dockerfile and README.md
• General: Add new start script for headless mode with Docker

Minor

• General: add new control command for "FPS"
• General: Set default properties for Main Camera
  • allowDynamicResolution = true
  • useOcclusionCulling = true
• Device: Increase queue size and lower flushing threshold in DeviceMessageQueue
• Device: Set Seek(0) in DeviceMessage.SetMessage()
• Device: Modify Laser Sensor Device -> Change LaserProcessing() function coroutine into Thread work
• Device: Change anisolevel 3 -> 2 in CameraSensor
• Device: Change BlockingCollection to ConcurrentQeueue
  • In sensor, Camera, DepthCamera, Lidar, MultiCamera, SegmentationCamera

Bug fix

• Device: Modify Camera Sensor to solve parsing fail error for camera image data in cloisim_ros
  • Stop to reuse DeviceMessage in Device
  • Remove lock scheme in DeviceMessage
  • Modify waitForSeconds in CameraWorker()
  • to keep target UpateRate for image processing, give a sleep every dequeue messsage
• Device: Modify Lidar Sensor to keep target update rate

Version matching for this release

• ros2 jazzy

  • cloisim_ros: jazzy-4.6.2

• ros2 humble

  • cloisim_ros: humble-3.11.2

• ros2 foxy

  • foxy will not support the latest version of CLOiSim, backporting is not planned

• cloi_common_interfaces is included in cloisim_ros as a git submodule

• resources

  • samples_resource: v3.2.1
  • cloi_resources: 5.2, only for LGE internal user

What's Changed

• Fix Dockerfile by @hyunseok-yang in #336
• Ortho/cam by @hyunseok-yang in #337
• Fix/sensor/queue managing by @hyunseok-yang in #338
• Merge from 'develop' into 'main' for CLOiSim-4.9.7 by @hyunseok-yang in #339

Full Changelog: 4.9.6...4.9.7

CLOiSim-4.9.6

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor x 32
• Memory: 128.0 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 22.04.5 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2022.3.55f1 (LTS)
• Upgrade Plugin libraries
  • protobuf-net: 3.2.30 -> 3.2.45
  • protobuf-net.Core: 3.2.30 -> 3.2.45
• UI: Modfiy SDF.Import.Base
  • it affects ModelImporter, initial model rotation is corrupted when other obejct is located in origin position.

Minor

• Device: disable usemipmap and autogenerateMips in Camera Sensor Device
• Device.Module: modify ProcessDevice() in MicomCommand()
  • change order of processing command -> ->
• Device.Module: Modfiy SelfBalancedDrive class
  • set initial joint target for HeadsetTarget -> add new GetDrive() method in ArticulationDrive
  • Method name changed.
• Tools: Minor modification in MathUtil

Bug fix

• DeviceHelper: fix GetPartsName()
  • retreive link name of sensor

Version matching for this release

• ros2 jazzy

  • cloisim_ros: jazzy-4.6.2

• ros2 humble

  • cloisim_ros: humble-3.11.2

• ros2 foxy

  • foxy will not support the latest version of CLOiSim, backporting is not planned

• cloi_common_interfaces is included in cloisim_ros as a git submodule

• resources

  • samples_resource: v3.2.1
  • cloi_resources: 5.2, only for LGE internal user

What's Changed

• Merge from 'develop' into 'main' for CLOiSim-4.9.6 by @hyunseok-yang in #335

Full Changelog: 4.9.5...4.9.6

CLOiSim-4.9.5

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor x 32
• Memory: 128.0 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 22.04.5 LTS (64-bit)

Changes

Major

• General: Update Packages Version
  • com.unity.modules.video: 1.0.0 => Enable
• UI: Modify to save world file on the location where the original world file is loaded.
• CLOisimPlugin: Support to display videos in specific geometry through MicomPlugin
  • Make it possible to play video file into plane geometry
  • Add new custom shader for playing video on texture
    • General: Add included shader in GraphicsSettings
• SDF.Parser: Modify GetIncludedModel()
  • parse element in element

Minor

• General: Update Package Version
  • com.unity.performance.profile-analyzer: 1.2.2 -> 1.2.3
• Graphics: Update UniversalRenderPipelineAsset.asset
• Graphics: Disable MSAA(Anti-aliasing) by default in RenderPipelines
• SDF.Parser: Parse sensor in Joint element
• Device.Module: Modify SelfBalancedDrive to change adjust body rotaion value via parameters in SDF
• Device.Module: Modify GetPartsName() in DeviceHelper
  • modify setting partsName field
  • add GetPartsName() remove GetPartName()
• Device.Module: Add Sec2NSec and NSec2Sec in DeviceHelper
• CLOiSimPlugin: Modify fields, leading with undrescore
• CLOiSimPlugin: Modify parts name in MicomPlugin
• CLOiSimPlugin: Modify SetCustomHandleRequestMessage() in CommonMethod
  • Separate the functionality of handling "request_ros2" request message as a new method -> SetRequestRos2Response()

Bug fix

• CLOiSimPlugin: fix wrong parts name in each Modules in RealSensePlugin
• Device.Module: Fix wrong value calculation for _commandTargetRollByDrive in SelfBalancedDrive.Drive()

Version matching for this release

• ros2 jazzy

  • cloisim_ros: jazzy-4.6.2

• ros2 humble

  • cloisim_ros: humble-3.11.2

• ros2 foxy

  • foxy will not support the latest version of CLOiSim, backporting is not planned

• cloi_common_interfaces is included in cloisim_ros as a git submodule

• resources

  • samples_resource: v3.2.1
  • cloi_resources: 5.2, only for LGE internal user

What's Changed

• Add/display by @hyunseok-yang in #330
• Modify/cl oi sim plugins by @hyunseok-yang in #331
• Merge from 'develop' into 'main' for CLOiSim-4.9.5 by @hyunseok-yang in #333

Full Changelog: 4.9.4...4.9.5

CLOiSim-4.9.4

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor x 32
• Memory: 128.0 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 22.04.5 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2022.3.54f1 (LTS)
• SDF.Import.Loader: Modify GetInertiaTensor() to set inertiaTensor rotation which calculated automatically by articulation body.

Minor

• Device.Module: Modify SelfBalancedDrive to enhance control
  • adjust target Body Rotation
  • adjust smooth timing in RestoreHipAndLegZero()
  • modify hip angle and leg angle

Bug fix

• Mesh.Tool: Revert "Fix scale direction in ToUnityMeshObject() of MeshLoader"
• Mesh.Tool: Modify MeshLoader.ToUnity() in Assimp.Common (scaling problem reported with dae collada mesh)

Version matching for this release

• ros2 jazzy

  • cloisim_ros: jazzy-4.6.1

• ros2 humble

  • cloisim_ros: humble-3.11.1

• ros2 foxy

  • foxy will not support the latest version of CLOiSim, backporting is not planned

• cloi_common_interfaces is included in cloisim_ros as a git submodule

• resources

  • samples_resource: v3.2.1
  • cloi_resources: 5.1, only for LGE internal user

What's Changed

• Modify ControlHipAndLeg() in SelfBalanceControl class by @hyunseok-yang in #328
• Merge from 'develop' into 'main' for CLOiSim-4.9.4 by @hyunseok-yang in #329

Full Changelog: 4.9.3...4.9.4

CLOiSim-4.9.3

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor x 32
• Memory: 128.0 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 22.04.5 LTS (64-bit)

Changes

Major

• CLOiSimPlugin: Allow to publish zero(empty) tf every 2 seconds in Base class
• CLOiSimPlugin.Message: Modify cloisim.msg.micom, change 'odom' field to optional

Minor

• UI (For Editor): Display some of variable in Base Device class in inspector
• Device.MicomSensor: Initialize Odom message when motorcontrol is set

Bug fix

• CLOiSimPlugin.Micom: Fix parsing uss/ir/bumper parameter info in MicomPlugin
• Device.Sonar: Bug fixed in Sonar Sensor model

Version matching for this release

• ros2 jazzy

  • cloisim_ros: jazzy-4.6.1

• ros2 humble

  • cloisim_ros: humble-3.11.1

• ros2 foxy

  • foxy will not support the latest version of CLOiSim, backporting is not planned

• cloi_common_interfaces is included in cloisim_ros as a git submodule

• resources

  • samples_resource: v3.2.1
  • cloi_resources: 5.0, only for LGE internal user

What's Changed

• Merge from 'develop' into 'main' for CLOiSim-4.9.3 by @hyunseok-yang in #327

Full Changelog: 4.9.2...4.9.3

CLOiSim-4.9.2

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor x 32
• Memory: 128.0 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 22.04.5 LTS (64-bit)

Changes

Major

• SDF.Parser: Parse element in
• General: Modfiy UniversalRenderPipelineAsset to set additional lights
• General: Modify ProjectSettings/GraphicsSettings to set custom LightmapModes

Minor

• SDF.Import: Modify default intensity in SDF.Import.Light
• SDF.Parser: Implement ToString() in SDF.Parser.Color

Bug fix

• SDF.Import: Fix default direciont of Spot light in SDF.Import.Light
• SDF.Import: Fix for handling static model in AfterImportLink()
• MeshLoader: Fix scale direction in ToUnityMeshObject()
• DeviceHelper: Handling target object which has tag with 'Actor' in GetModelName()
• SDF.Helper: add Protection code in UpdateRootModel() -> out-of-length index accessing
• SDF.Parser: Bug (parsing wrong element) fixed in SDF.Parser.Light

Version matching for this release

• ros2 jazzy

  • cloisim_ros: jazzy-4.6.0

• ros2 humble

  • cloisim_ros: humble-3.11.0

• ros2 foxy

  • foxy will not support the latest version of CLOiSim, backporting is not planned

• cloi_common_interfaces is included in cloisim_ros as a git submodule

• resources

  • samples_resource: v3.2.1
  • cloi_resources: 5.0, only for LGE internal user

What's Changed

• Merge from 'develop' into 'main' for CLOiSim-4.9.2 by @hyunseok-yang in #326

Full Changelog: 4.9.1...4.9.2

CLOiSim-4.9.1

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor x 32
• Memory: 128.0 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 22.04.5 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2022.3.53f1 (LTS)
• Update Package:
  • com.unity.splines: 2.7.1 -> 2.7.2

Minor

• Device.Module: Move DifferentialDrive.IsZero() into MathUtil.IsZero() and modify epsilon value in IsZero()

Bug fix

• UI: Fix initial body rotation in ModelImporter
• Device.Laser: Fix calculation anglestep in case of 360 angle in LaserData
  • Modify default HFOV unit angle for 3D-Lidar: 10 -> 90
• Device.Contact: Fix updating information of Bumper sensor
• Device.Sensor: Fix wrong value in Segmentation Camera
  • Disable PostProcessig in SegmentationRenderer -> cause wrong pixel info
  • Remove Encode16BitsToRG() and Encode16BitsToGR() in ColorEncoding
  • Store classId value only in MPB for SegmentationShader
  • Modify SegmentationShader to handle class id value and
    encode class id value to 16bits and store R/G value in little-endian order
  • Modify SegmentationCamera Device
    • targetColorFormat, GraphicsFormat.R8G8_UNorm -> R8G8B8A8_UNorm
• Device.Micom: Fix null mowingBlade object in MicomCommand
• CLOiSimPlugin: Bug fix in MowingPlugin
  • null(_mowingBlade) reference accessing in StartMowing()
  • Punching grass within blade height max
  • wrong scope of finding SDF.Helper.Visual in CreateTempColliderInVisuals()
  • isTrigger set to false for generating temporary meshcollider
  • fix target object in FindMeshFiltersToPunching() for finding mesh filters
• SDF.Implement: Fix wrong property accessing in ConvertToSpeedTree()
• SDF.Implement Bug fix inertia tensor handling
  • remove UpdateInertiaTensorRotation()
• SDF.Import: Util.SpecifyPose()
  • Wrong Pose(rotation/position) calculation

Version matching for this release

• ros2 jazzy

  • cloisim_ros: jazzy-4.6.0

• ros2 humble

  • cloisim_ros: humble-3.11.0

• ros2 foxy

  • foxy will not support the latest version of CLOiSim, backporting is not planned

• cloi_common_interfaces is included in cloisim_ros as a git submodule

• resources

  • samples_resource: v3.2.1
  • cloi_resources: 5.0, only for LGE internal user

What's Changed

• Fix calculation anglestep in case of 360 angle in LaserData by @hyunseok-yang in #323
• Fix updating information of Bumper sensor by @hyunseok-yang in #324
• Merge from 'develop' into 'main' for CLOiSim-4.9.1 by @hyunseok-yang in #325

Full Changelog: 4.9.0...4.9.1

CLOiSim-4.9.0

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor x 32
• Memory: 128.0 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 22.04.5 LTS (64-bit)

Changes

Major

• General: Upgrade Unity editor version: 2022.3.52f1 (LTS)
• General: Performance Optimizations
  • Replaced string.CompareTo() with string.Equals() for better performance in string comparisons.
• General: (Mathematical Utilities) Introduced new math structures for linear algebra operations:
  • Dynamic matrices (MatrixXd) and vectors (VectorXd).
  • Refactored existing structures like Vector2d, Vector3d, Vector4d, Matrix4x4d, and Quaterniond.
• Device.Modules: Changed default variable types in PID controls from float to double to increase precision.
• Device.Modules: Motor Control enhnaced and modifieid
  • Introduced a new motor module for self-balancing motor control, enabling two-wheel balanced robot simulations -> "SelfBalancedDrive"
  • Separate and refactored the DifferentialDrive class (previous 2/4-wheel MotorControl module to DifferentialDrive):
  • Modified MicomPlugin to improve motor control interactions and set motor parameters dynamically.
• Device.Modules: New "SelfBalancedDrive" Improvements for Self Balanced two-wheeled robot like LGE-Q9 model
  • Implement object self balancing by pitch.
  • Adjusted headset pitch controls and enabled joystick input for pitch adjustments.
  • Implemented target position control for LEG, HEAD, and HIP joints, replacing the PID control mechanism (to simplify).
  • Applied clamping to command target pitch values to prevent overcompensation.
• Physics: Adjusted gravity -9.81 to -9.807
• Physics: Increased the drag value of articulation body or rigid bodies for spawning objects to improve physics simulations.
• SDF: Reset SDF.Helper or plugins after deploying objects through the UI to ensure proper initialization.
• UI: Modify UI SimulationDisplay
  • Remove textmesh pro button for Save & Import and replace with UI Builder

Minor

• General: Refactoring Main class, ModelImporter class
  • Move UpdateUIModelList() from Main to ModelImporter
• UI: Adjusted properties for the default light ("Sun") in MainScene.unity for better visual effects.
• UI: Modify keyboard shortcut (Ctrl+R) to reset simulations in Unity Editor mode.
• UI: Modify ModelImporter class
  • Modify default DeployOffsetMargin: 0.08

Bug fix

• UI: Fixed the Camera View button functionality.
• UI: Modified mouse hover effects for buttons to fix wrong user experience.
• MeshLoader: Fixed scaling issues in MeshLoader.ToUnity() within Assimp.Common.
• Device.Sensor.IMU: Recalculate rotations for the X-axis (pitch) to address gimbal lock issues.
• SDF.Implements: Inertia Tensor Handling
  • Ignored off-diagonal inertia components (Ixy, Ixz, Iyz) due to mismatches with Unity's physics engine.
  • Applied the parent's rotation to inertia tensors to correct rotational discrepancies.

Version matching for this release

• ros2 jazzy

  • cloisim_ros: jazzy-4.5.0

• ros2 humble

  • cloisim_ros: humble-3.10.0

• ros2 foxy

  • foxy will not support the latest version of CLOiSim, backporting is not planned

• cloi_common_interfaces is included in cloisim_ros as a git submodule

• resources

  • samples_resource: v3.2.0
  • cloi_resources: 5.0, only for LGE internal user

What's Changed

• New/feature/legged wheel control by @hyunseok-yang in #321
• Merge from 'develop' into 'main' for CLOiSim-4.9.0 by @hyunseok-yang in #322

Full Changelog: 4.8.0...4.9.0

CLOiSim-4.8.0

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor x 32
• Memory: 128.0 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
  • Verified driver version: 550.107.02
• OS: Linux/Ubuntu 22.04.4 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2022.3.46f1 (LTS)
• SDF.Implement: rearchitect Pose handling due to apply 'relative_to' attribute in 'pose' element of SDF.
  • SDF.Import.Util: newly introduced and re-adjust all pose after all models are imported.
• CLOiSimPlugin
  • MicomPlugin: refactoring and handle mowing parameters
    • MicomCommand: handle mowing control message
    • MowingBlade: newly introduced
  • MowingPlugin: add On/Off mowing blade and adjustable blade height
• DeviceMessage: remove Reset() calling after deserialize message in GetMessage()

Minor

• SDF2Unity: modify GetModelLinkName()

Bug fix

• UI.Modelmporter: fix calculation for bounds

Version matching for this release

• ros2 jazzy

  • cloisim_ros: jazzy-4.4.0

• ros2 humble

  • cloisim_ros: humble-3.9.0

• ros2 foxy

  • foxy will not support the latest version of CLOiSim, backporting is not planned

• cloi_common_interfaces is included in cloisim_ros as a git submodule

• resources

  • samples_resource: v3.1.0
  • cloi_resources: 4.0, only for LGE internal user

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

What's Changed

• Modify MicomPlugin and MowingPlugin for Mowing simulation by @hyunseok-yang in #319
• Update/sdf.tools by @hyunseok-yang in #318
• Merge from 'develop' into 'main' for CLOiSim-4.8.0 by @hyunseok-yang in #320

Full Changelog: 4.7.4...4.8.0