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CLOiSim-2.2.0
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@hyunseok-yang hyunseok-yang released this 11 Apr 16:25
· 1733 commits to main since this release
2.2.0
5a80076
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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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