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CLOiSim-2.0.0

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@hyunseok-yang hyunseok-yang released this 01 Mar 13:21
· 1733 commits to main since this release
2.0.0
2689708
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Learn about vigilant mode.

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

  • Update package version

    • Core RP Library: 7.5.3 -> 10.3.1

    • text mesh pro: 2.1.3 -> 3.0.4

    • Update MainScene.unity

      • change default parameter in UI Main Camera
      • Change rigidbody to articulation body for sample object in MainScene
      • Update default assets in MainScene.unity

  • Update Dynamic Parameters for physics

    • enable adpative force
    • enable reuse collision callbacks
    • enable auto sync transform
    • enable enhanced dterminism
    • Change solver iteration
    • Update fixed time step in ProjectSettings
      • 0.02 -> 0.01

  • Change physical material for SDF surface

    • dynamic friction = static friction * 0.75

  • Apply and change software architecture for ArticulationBody unity physics

    • Modify SDF import & implement code for Joint

    • handling model link hierarchy relationship.

    • Set Joint axis and propertis in SDF.Import/Implement for ArticulationBody

      • anchorPosition/Rotaion is important!!

    • Modify SDF parser

      • Code refactoring along with change of aritculation body
        • MicomSensor
        • Motor module

    • modify code in SDF.import.Joint

      • fix anchor pose for ArticulationBody.
      • re-naming method
        • PostImportXXX() -> AfterImportXXX()

    • Modify Import Model.

      • Reset InertiaTensor and Center of mass for root articulation body before load other links
      • Add ConstantForce script for ArticulationBody after load other links

    • Set jointFriction parameter by SDF values for Prismatic joint/Revolte Joint type

    • Set joinfFriction to 0 value for Fixed joint type

    • Set default mass in root artculationbody

      • 1e-20

  • Modifiy Motor modules and PID Module

    • Get averaged value for current joint velocity
      • Calculating average value using 3-point average
    • change parameters
    • Code cleanup in PID module
    • Add configurable max/min for intergal and output in PID module

  • Update code in TransformGizmo for articulation body

  • Make it static object for spawning objects

  • Change interface type between CLOiSim and cloisim_ros

    • elevator_index: int -> string

  • Modify SDF.Collision

    • apply bounciness using surface/boucne/restitution coeffieicent

  • Set minimum value for intertia tensor when it does not have a collision -bject.

  • Separater Inertial and inertia in SDF Parser

  • Handling intertia tensor from SDF

Minor

  • Update README.md

  • Add condition for TransformGizmo

    • block object selecting when press left ctrl key

  • Draw Inertia region

  • Change max_force value in Joint

    • set default forceLimit value to float.MaxValue

  • Minor code refactoring for ElevatorSystem

  • change method name in Main.cs

    • remove debugging message for reset

  • remove unused code in Sonar Sensor

  • Can change service port through Environment Variable

    • CLOISIM_SERVICE_PORT

  • Change method in DebugLogWriter for warning log

    • Add SetWarningOnce() and Remove SetWarning() method

  • Change default space in gizmo transform for manipulation

    • Global -> Local

  • Add protection code if Unity.Camera exist.

  • Protection code added in Actuator module

    • check NaN value

  • Modify code in Gizmo Transform and ObjectSpwaning

    • .tag.Equals -> .CompareTag method

  • Setting default resources directories in MainScene.unity file

  • Change name of method in PoseControl

  • Modify SDF parser for Surface element

  • minor code modified in SDF importer

Bug fix

  • Fix wrong aritculation drive handling in Motor module

  • Fix Reset function in PoseControl after ArticulationBody is introduced

  • Fix gizmo transform for articulation body

    • add ArticulationBody.Sleep() as a workaround code before call TeleportRoot() method
    • TeleportRoot method is for physics but function is working on Coroutine.

  • Bug fix in Motor module and MicomSensor

    • Wrong wheel module accessing

  • Fix axis of articulation body joint

  • Fix Motor module and PID control module for articulation body

    • Get joint velocity after calculate average value

  • Bug fix in SDF Parser

    • Collision

  • Fix rotation in gizmo transform for arituculation 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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