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