From 83e430e81ebe10b8476cb2489b2651d761447e6f Mon Sep 17 00:00:00 2001
From: "(=YG=) Hyunseok Yang" <hyunseok7.yang@lge.com>
Date: Mon, 6 Nov 2023 19:12:29 +0900
Subject: [PATCH 1/5] Update README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index d6c0abab..545fb2ae 100644
--- a/README.md
+++ b/README.md
@@ -139,7 +139,7 @@ if `<name>` element of `<script>` element in `<material>` element contains "tree
 
 ### Tested environement (latest)
 
-- Unity Editor Version: *'2022.3.10f1 (LTS)'*.
+- Unity Editor Version: *'2022.3.12f1 (LTS)'*.
 
 - Linux Machine
   - OS: Ubuntu 22.04.3 LTS

From 803ca5dc7388fb030b50fb9e2b9b1be1e424f558 Mon Sep 17 00:00:00 2001
From: "(=YG=) Hyunseok Yang" <hyunseok7.yang@lge.com>
Date: Tue, 14 Nov 2023 11:21:59 +0900
Subject: [PATCH 2/5] Upgrade Unity editor version -> 2022.3.13f1 (LTS)

---
 .../RenderPipelines/UniversalRenderPipelineAsset.asset        | 4 ++++
 ProjectSettings/ProjectVersion.txt                            | 4 ++--
 README.md                                                     | 2 +-
 3 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/Assets/Resources/RenderPipelines/UniversalRenderPipelineAsset.asset b/Assets/Resources/RenderPipelines/UniversalRenderPipelineAsset.asset
index bdc7accf..ad6be46a 100644
--- a/Assets/Resources/RenderPipelines/UniversalRenderPipelineAsset.asset
+++ b/Assets/Resources/RenderPipelines/UniversalRenderPipelineAsset.asset
@@ -104,6 +104,10 @@ MonoBehaviour:
   m_PrefilterDBufferMRT1: 1
   m_PrefilterDBufferMRT2: 1
   m_PrefilterDBufferMRT3: 1
+  m_PrefilterSoftShadowsQualityLow: 1
+  m_PrefilterSoftShadowsQualityMedium: 1
+  m_PrefilterSoftShadowsQualityHigh: 1
+  m_PrefilterSoftShadows: 0
   m_PrefilterScreenCoord: 1
   m_PrefilterNativeRenderPass: 1
   m_ShaderVariantLogLevel: 0
diff --git a/ProjectSettings/ProjectVersion.txt b/ProjectSettings/ProjectVersion.txt
index e4eac159..91206fdc 100644
--- a/ProjectSettings/ProjectVersion.txt
+++ b/ProjectSettings/ProjectVersion.txt
@@ -1,2 +1,2 @@
-m_EditorVersion: 2022.3.12f1
-m_EditorVersionWithRevision: 2022.3.12f1 (4fe6e059c7ef)
+m_EditorVersion: 2022.3.13f1
+m_EditorVersionWithRevision: 2022.3.13f1 (5f90a5ebde0f)
diff --git a/README.md b/README.md
index 545fb2ae..e2d01772 100644
--- a/README.md
+++ b/README.md
@@ -139,7 +139,7 @@ if `<name>` element of `<script>` element in `<material>` element contains "tree
 
 ### Tested environement (latest)
 
-- Unity Editor Version: *'2022.3.12f1 (LTS)'*.
+- Unity Editor Version: *'2022.3.13f1 (LTS)'*.
 
 - Linux Machine
   - OS: Ubuntu 22.04.3 LTS

From 1ef0d0953ba2ed2893cbbaca9b6261d7773ead5e Mon Sep 17 00:00:00 2001
From: "(=YG=) Hyunseok Yang" <hyunseok7.yang@lge.com>
Date: Mon, 27 Nov 2023 10:42:18 +0900
Subject: [PATCH 3/5] Upgrade Unity editor version -> 2022.3.14f1 (LTS)

---
 Packages/packages-lock.json        | 13 +++++++++++--
 ProjectSettings/ProjectVersion.txt |  4 ++--
 README.md                          |  4 ++--
 3 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/Packages/packages-lock.json b/Packages/packages-lock.json
index f59a84c1..7e54a8dc 100644
--- a/Packages/packages-lock.json
+++ b/Packages/packages-lock.json
@@ -10,7 +10,7 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.burst": {
-      "version": "1.8.9",
+      "version": "1.8.10",
       "depth": 1,
       "source": "registry",
       "dependencies": {
@@ -58,7 +58,16 @@
         "com.unity.mathematics": "1.2.1",
         "com.unity.burst": "1.8.9",
         "com.unity.render-pipelines.core": "14.0.9",
-        "com.unity.shadergraph": "14.0.9"
+        "com.unity.shadergraph": "14.0.9",
+        "com.unity.render-pipelines.universal-config": "14.0.9"
+      }
+    },
+    "com.unity.render-pipelines.universal-config": {
+      "version": "14.0.9",
+      "depth": 1,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.render-pipelines.core": "14.0.9"
       }
     },
     "com.unity.robotics.vhacd": {
diff --git a/ProjectSettings/ProjectVersion.txt b/ProjectSettings/ProjectVersion.txt
index 91206fdc..da671891 100644
--- a/ProjectSettings/ProjectVersion.txt
+++ b/ProjectSettings/ProjectVersion.txt
@@ -1,2 +1,2 @@
-m_EditorVersion: 2022.3.13f1
-m_EditorVersionWithRevision: 2022.3.13f1 (5f90a5ebde0f)
+m_EditorVersion: 2022.3.14f1
+m_EditorVersionWithRevision: 2022.3.14f1 (eff2de9070d8)
diff --git a/README.md b/README.md
index e2d01772..9a071049 100644
--- a/README.md
+++ b/README.md
@@ -139,7 +139,7 @@ if `<name>` element of `<script>` element in `<material>` element contains "tree
 
 ### Tested environement (latest)
 
-- Unity Editor Version: *'2022.3.13f1 (LTS)'*.
+- Unity Editor Version: *'2022.3.14f1 (LTS)'*.
 
 - Linux Machine
   - OS: Ubuntu 22.04.3 LTS
@@ -200,7 +200,7 @@ or you can execute '***./run.sh***' script in release [binary](https://github.co
 #### Debugging log
 
 ```shell
-tail -f ~/.config/unity3d/lge-arlab/CLOiSim/Player.log
+tail -f ~/.config/unity3d/LGE.CTO.AdvancedRoboticsLab/CLOiSim/Player.log
 ```
 
 #### Control and external UI service

From aab44ce45e9f12903159edfda39e98b2edda043e Mon Sep 17 00:00:00 2001
From: "(=YG=) Hyunseok Yang" <hyunseok7.yang@lge.com>
Date: Mon, 27 Nov 2023 16:55:42 +0900
Subject: [PATCH 4/5] Fix JointState and Articulation for Motor Control - fix
 wrong direction/orientation

---
 Assets/Scripts/Devices/JointState.cs          | 19 ++++++++--
 .../Scripts/Devices/Modules/Articulation.cs   | 36 ++++++++++---------
 .../Devices/Modules/Base/DeviceHelper.cs      |  7 ++++
 Assets/Scripts/Devices/Modules/Motor.cs       | 12 +++----
 4 files changed, 48 insertions(+), 26 deletions(-)

diff --git a/Assets/Scripts/Devices/JointState.cs b/Assets/Scripts/Devices/JointState.cs
index b30ab58a..3bdde25f 100644
--- a/Assets/Scripts/Devices/JointState.cs
+++ b/Assets/Scripts/Devices/JointState.cs
@@ -102,9 +102,22 @@ void FixedUpdate()
 				var articulation = item.Item1;
 				var jointState = item.Item2;
 
-				jointState.Effort = articulation.GetEffort();
-				jointState.Position = articulation.GetJointPosition();
-				jointState.Velocity = articulation.GetJointVelocity();
+				var jointVelocity = articulation.GetJointVelocity();
+				var jointPosition = articulation.GetJointPosition();
+				var jointForce = articulation.GetForce();
+
+				jointState.Effort = (articulation.IsRevoluteType()) ?
+										DeviceHelper.Convert.CurveOrientation(jointForce) :
+											(articulation.IsPrismaticType() ?
+												 DeviceHelper.Convert.PrismaticDirection(jointForce, articulation.GetAnchorRotation()) : jointForce);
+
+				jointState.Position = (articulation.IsRevoluteType()) ?
+										DeviceHelper.Convert.CurveOrientation(jointPosition) :
+											(articulation.IsPrismaticType() ?
+												 DeviceHelper.Convert.PrismaticDirection(jointPosition, articulation.GetAnchorRotation()) : jointPosition);
+
+				jointState.Velocity = (articulation.IsRevoluteType()) ?
+										DeviceHelper.Convert.CurveOrientation(jointVelocity) : jointVelocity;
 			}
 		}
 	}
diff --git a/Assets/Scripts/Devices/Modules/Articulation.cs b/Assets/Scripts/Devices/Modules/Articulation.cs
index 852778d8..7fe07626 100644
--- a/Assets/Scripts/Devices/Modules/Articulation.cs
+++ b/Assets/Scripts/Devices/Modules/Articulation.cs
@@ -5,6 +5,7 @@
  */
 
 using UnityEngine;
+using System.Collections.Generic;
 
 public class Articulation
 {
@@ -41,6 +42,11 @@ public bool IsRevoluteType()
 		return (Type == ArticulationJointType.RevoluteJoint || Type == ArticulationJointType.SphericalJoint) ? true : false;
 	}
 
+	public bool IsPrismaticType()
+	{
+		return (Type == ArticulationJointType.RevoluteJoint || Type == ArticulationJointType.PrismaticJoint) ? true : false;
+	}
+
 	protected void SetJointVelocity(in float velocity, in int targetDegree = 0)
 	{
 		if (_jointBody != null)
@@ -59,38 +65,37 @@ private int GetValidIndex(in int index)
 		return (_jointBody == null) ? -1 : ((index >= _jointBody.dofCount) ? (_jointBody.dofCount - 1) : index);
 	}
 
+	public Vector3 GetAnchorRotation()
+	{
+		return (_jointBody == null) ? Vector3.zero : _jointBody.anchorRotation.eulerAngles;
+	}
+
 	/// <returns>in radian for angular and in meters for linear</param>
 	public float GetJointPosition(int index = 0)
 	{
 		if (IsRevoluteType())
 		{
 			index = GetValidIndex(index);
-			return (_jointBody == null || index == -1) ? 0 :
-				DeviceHelper.Convert.CurveOrientation(_jointBody.jointPosition[index]);
+			return (_jointBody == null || index == -1) ? 0 : _jointBody.jointPosition[index];
 		}
 		else
 		{
 			if (Type == ArticulationJointType.PrismaticJoint)
 			{
-				var anchorRotation = _jointBody.anchorRotation.eulerAngles;
-				var direction = (Mathf.Approximately(anchorRotation.x, 180) ||
-								Mathf.Approximately(anchorRotation.y, 180) ||
-								Mathf.Approximately(anchorRotation.z, 180)) ? -1f : 1f;
-
 				if (_jointBody.linearLockX == ArticulationDofLock.LockedMotion &&
 					_jointBody.linearLockY == ArticulationDofLock.LockedMotion)
 				{
-					return direction * _jointBody.transform.localPosition.z;
+					return _jointBody.transform.localPosition.z;
 				}
 				else if (_jointBody.linearLockY == ArticulationDofLock.LockedMotion &&
 						 _jointBody.linearLockZ == ArticulationDofLock.LockedMotion)
 				{
-					return direction * _jointBody.transform.localPosition.x;
+					return _jointBody.transform.localPosition.x;
 				}
 				else if (_jointBody.linearLockX == ArticulationDofLock.LockedMotion &&
 						 _jointBody.linearLockZ == ArticulationDofLock.LockedMotion)
 				{
-					return direction * _jointBody.transform.localPosition.y;
+					return _jointBody.transform.localPosition.y;
 				}
 			}
 		}
@@ -111,16 +116,15 @@ public float GetJointVelocity(int index = 0)
 	{
 		index = GetValidIndex(index);
 		var value = (_jointBody == null || index == -1) ? 0 : _jointBody.jointVelocity[index];
-		return (IsRevoluteType() ? DeviceHelper.Convert.CurveOrientation(value) : value);
+		return value;
 	}
 
 	/// <returns>torque for angular and force for linear</param>
-	public float GetEffort()
+	public float GetForce(int index = 0)
 	{
-		var drive = GetDrive();
-		var F = drive.stiffness * (GetJointPosition() - drive.target) - drive.damping * (GetJointVelocity() - drive.targetVelocity);
-		// Debug.Log(_jointBody.name + ": Calculated force = " + F);
-		return F;
+		index = GetValidIndex(index);
+		var value = (_jointBody == null || index == -1) ? 0 : _jointBody.driveForce[index];
+		return value;
 	}
 
 	/// <param name="target">angular velocity in degrees per second OR target position </param>
diff --git a/Assets/Scripts/Devices/Modules/Base/DeviceHelper.cs b/Assets/Scripts/Devices/Modules/Base/DeviceHelper.cs
index 629bb403..5fda92e3 100644
--- a/Assets/Scripts/Devices/Modules/Base/DeviceHelper.cs
+++ b/Assets/Scripts/Devices/Modules/Base/DeviceHelper.cs
@@ -155,6 +155,13 @@ public static float CurveOrientation(in float value)
 		{
 			return -value;
 		}
+
+		public static float PrismaticDirection(in float value, in Vector3 rotation)
+		{
+			return (Mathf.Approximately(rotation.x, 180) ||
+					Mathf.Approximately(rotation.y, 180) ||
+					Mathf.Approximately(rotation.z, 180)) ? -value : value;
+		}
 	}
 
 	public static Vector3[] SolveConvexHull2D(in Vector3[] points)
diff --git a/Assets/Scripts/Devices/Modules/Motor.cs b/Assets/Scripts/Devices/Modules/Motor.cs
index 9e100591..0bc35c99 100644
--- a/Assets/Scripts/Devices/Modules/Motor.cs
+++ b/Assets/Scripts/Devices/Modules/Motor.cs
@@ -45,8 +45,8 @@ public void Wait()
 
 	public class MotorMotionFeedback
 	{
-		public float compensatingVelocityIncrease = 0.20f;
-		public float compensatingVelocityDecrease = 0.60f;
+		public const float CompensatingVelocityIncrease = 0.10f;
+		public const float CompensatingVelocityDecrease = 0.50f;
 
 		private bool _isRotating = false;
 		private float _currentTwistAngularVelocity = 0;
@@ -84,12 +84,12 @@ public float Compensate()
 			{
 				if (IsTargetReached() == false)
 				{
-					_compensateValue += compensatingVelocityIncrease;
+					_compensateValue += CompensatingVelocityIncrease;
 					// Debug.Log("_test: it is low speed, " + _currentTwistAngularVelocity + " < " + _targetTwistAngularVelocity);
 				}
 				else
 				{
-					_compensateValue -= compensatingVelocityDecrease;
+					_compensateValue -= CompensatingVelocityDecrease;
 
 					if (_compensateValue < 0)
 					{
@@ -125,7 +125,7 @@ public Motor(in GameObject gameObject)
 
 	public void SetPID(in float pFactor, in float iFactor, in float dFactor)
 	{
-		_pidControl = new PID(pFactor, iFactor, dFactor, 50, -50, 300, -300);
+		_pidControl = new PID(pFactor, iFactor, dFactor, 10, -10, 100, -100);
 	}
 
 	/// <summary>Get Current Joint Velocity</summary>
@@ -173,8 +173,6 @@ public void Update(in float duration)
 		}
 
 		_currentMotorVelocity = GetMotorVelocity(duration);
-		// Debug.LogFormat("joint vel({0}) accel({1}) force({2}) friction({3}) pos({4})",
-		// 	Body.jointVelocity[0], Body.jointAcceleration[0], Body.jointForce[0], Body.jointFriction, Body.jointPosition[0]);
 
 		// do stop motion of motor when motor disabled
 		if (_enableMotor)

From 8ea5aeef94d0785721c557ea51e170121450b378 Mon Sep 17 00:00:00 2001
From: "(=YG=) Hyunseok Yang" <hyunseok7.yang@lge.com>
Date: Mon, 27 Nov 2023 16:57:18 +0900
Subject: [PATCH 5/5] Update app version info in Project settings : 4.2.0 ->
 4.2.1

---
 ProjectSettings/ProjectSettings.asset | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset
index 5a4e328b..4356d57c 100644
--- a/ProjectSettings/ProjectSettings.asset
+++ b/ProjectSettings/ProjectSettings.asset
@@ -136,7 +136,7 @@ PlayerSettings:
   vulkanEnableLateAcquireNextImage: 0
   vulkanEnableCommandBufferRecycling: 1
   loadStoreDebugModeEnabled: 0
-  bundleVersion: 4.2.0
+  bundleVersion: 4.2.1
   preloadedAssets: []
   metroInputSource: 0
   wsaTransparentSwapchain: 0
@@ -385,7 +385,6 @@ PlayerSettings:
   switchScreenResolutionBehavior: 2
   switchUseCPUProfiler: 0
   switchEnableFileSystemTrace: 0
-  switchUseGOLDLinker: 0
   switchLTOSetting: 0
   switchApplicationID: 0x01004b9000490000
   switchNSODependencies: