CLOiSim-4.1.1

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 22.04.3 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2022.3.11f1 (LTS)
• UI: Select Props by keyboard (number key 1,2,3)
• CLOiSimPlugin:
• General: (Reverted) Change Gaphics APIs for Windows and Linux
  • OpenGLcore -> "Vulkan"
• General: Modify Physics Parameter
  • BoundThreshold: 3
  • Defaul tcontact offset: 0.002
  • change solver/velocitysovler iteration: 9/10 -> 6/4
  • enable ImprovedPatchFriction
• General: Modify BurstAOT Settings
  • Optimzier for "Performance"

Minor

• General: Upgrade plugin libraries
  • protobuf-net: 3.2.16 -> 3.2.26
  • protobuf-net.Core: 3.2.16 -> 3.2.26
  • NetMQ: 4.0.1.12 -> 4.0.1.13
• Sensors.Camera: Modify renderTexture parameters for Sensor Device(Lidar and Camera)
• Sensors.Sonar: improve performance
• JointControlPlugin: Parsing attribute in Joints element
• CLOiSimPlugin: add protection code in Publisher
• General: Modify code to add 'SimulationWorld' Component in World Object
• General: Modify Main Camera
  • Apply Anti-aliansing: FXAA
  • Apply physical camera lens -> 700mm IMAX
  • Set dithering true
• General: Apply Minor tuning for VHACD

Bug fix

• SDF.Implement: Bug fixed Joint axis
• CLOiSimPlugin: Bug fixed in TF generation
• UI: Fix offset of deploying object through AddModel Panel.
  • Apply normal vector for object

What's Changed

• Merge from 'develop' into 'main' for CLOiSim-4.1.1 by @hyunseok-yang in #262

Full Changelog: 4.1.0...4.1.1

Version matching for this release

• ros2-humble

  • cloisim_ros: humble-3.4.0
  • cloi_common_interfaces: humble-3.0.0

• ros2-foxy (foxy will not support the latest version of CLOiSim, backporting is not planned)

• resources

  • samples_resource: v3.0.0
  • cloi_resources: 2.8, only for LGE internal user

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