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

CLOiSim-4.7.4

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor x 32
• Memory: 128.0 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
  • Verified driver version: 535.183.01 (issue reported with latest version of driver like 550)
• OS: Linux/Ubuntu 22.04.4 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2022.3.44f1 (LTS)
• General.Mesh: Load TGA image on texture 2d
• SensorDevices.DepthCamera: computed buffer conversion using Parallel
• SensorDevices.Micom: Angle Normalization in Odometry
• General.Physics: Change to PatchFriction, Contact Offeset 0.002 to 0.001

Minor

• Core: World clock rate 20 -> 50 hz
• SDF.Implement: modify default parameters for default articulation body

Bug fix

• SensorDevices.Camera/DepthCamera/SegmentationCamera/MultiCamera: Separate Message Queue Handling
  • Separate message queue handling and sensor data processing

Version matching for this release

• ros2 jazzy

  • cloisim_ros: jazzy-4.3.2

• ros2 humble

  • cloisim_ros: humble-3.8.1

• 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: v3.1.0
  • cloi_resources: 3.9, only for LGE internal user

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

What's Changed

• Enhance/queuehandling by @hyunseok-yang in #314
• Merge from 'develop' into 'main' for CLOiSim-4.7.4 by @hyunseok-yang in #315

Full Changelog: 4.7.3...4.7.4

CLOiSim-4.7.3

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor x 32
• Memory: 128.0 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
  • Verified driver version: 545.29.06 (issue reported with latest version of driver like 550)
• OS: Linux/Ubuntu 22.04.4 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2022.3.42f1 (LTS)
• Core: Add configurable graphic quality through environment varaible 'CLOISIM_QUALITY'
• Core: Create rewritten Custom URP Simple lit for applying Normal Map at realtime.
• SensorDevices.Camera/DepthCamera/SegmentationCamera: New AsyncWork structure applied for queue handling of cloisim_ros message
• SensorDevices.Lider: Enhance lidar sensor timing issue and modify structure of queue handling

Minor

• Core: Modify parameters for Main Camera
• Core: Renaming for Segmentaion Manager and Tag
• Tools.Mesh: Add new methods in TextureUtil
• SensorDevice.Module: Modify MotorControl to set target velocity simultaneoly using parallel

Bug fix

• SensorDevices.SegmentationCamera: Bug fixed for wrong target texture format
• Props: Apply default physics material
• Mesh: Apply workaround code for Terrain size(height)

Version matching for this release

• ros2 jazzy

  • cloisim_ros: jazzy-4.3.2

• ros2 humble

  • cloisim_ros: humble-3.8.1

• 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: v3.1.0
  • cloi_resources: 3.8, only for LGE internal user

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

What's Changed

• Hot-fix for 4.7.2 by @hyunseok-yang in #307
• Hot-fix-2 for 4.7.2 by @hyunseok-yang in #308
• Modify/segmentation by @hyunseok-yang in #309
• Modify/camerasensor by @hyunseok-yang in #310
• Merge from 'develop' into 'main' for CLOiSim-4.7.3 by @hyunseok-yang in #311
• Hotfix/4.7.3 by @hyunseok-yang in #312
• Hot-fix for 4.7.3 by @hyunseok-yang in #313

Full Changelog: 4.7.2...4.7.3

CLOiSim-4.7.2

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor x 32
• Memory: 128.0 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
  • Verified driver version: 545.29.06 (issue reported with latest version of driver like 550)
• OS: Linux/Ubuntu 22.04.4 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2022.3.40f1 (LTS)
• CLOiSimPlugin.MowingPlugin: Refactoring and add DryGrassMap zone
• CLOiSimPlugin.MicomPlugin: Modify PID control and remove custom wheel motor control
  • modify Articulation Module

Minor

• UI: Key for Camera Control (Moving upward) R -> G

Bug fix

• Core: Handling segmentation tag for Hide object

Version matching for this release

• ros2 jazzy

  • cloisim_ros: jazzy-4.3.2

• ros2 humble

  • cloisim_ros: humble-3.8.1

• 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: v3.1.0
  • cloi_resources: 3.8, only for LGE internal user

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

What's Changed

• Enhance/micom plugin by @hyunseok-yang in #303
• Modify/shader/geometryshader by @hyunseok-yang in #304
• Modfiy/segmentation by @hyunseok-yang in #305
• Merge from 'develop' into 'main' for CLOiSim-4.7.2 by @hyunseok-yang in #306

Full Changelog: 4.7.1...4.7.2