CLOiSim-4.2.0

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: 2022.3.12f1 (LTS)
• UI: extend min/max range of scaling factor for object spawning
• CLOiSimPlugin.JointControl: publish robot_desription
• CLOiSimPlugin.Message: new message added (JointCommand_V)
• SDF.Parse: Modify inertia tensor for non-collider link model when importing Link element

Minor

• CLOiSimPlugin: Remove and combined redundacy common method for MicomPluin and JointControlPlugin

Bug fix

• CLOiSimPlugin.JointControl: Bug fixed states value
• CLOiSimPlugin: Minor tuned Device Message Queue

What's Changed

• Joint robot description by @hyunseok-yang in #263
• Merge from 'develop' into 'main' for CLOiSim-4.2.0 by @hyunseok-yang in #264

Full Changelog: 4.1.1...4.2.0

Version matching for this release

• ros2-humble

  • cloisim_ros: humble-3.4.1
  • cloi_common_interfaces: humble-3.0.0

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

• cloisim_rviz_plugin (for joint control): humble-1.0.0

• 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.

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.

CLOiSim-4.1.0

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: 2022.3.10f1 (LTS)
• CLOiSimPlugin: Modify Joint Control -> using joint_name
• General: tunned physics parameters
• Sensors: modified in Lidar Sensor

Minor

• General: give a yield during importing the model
• UI: Clock format

Bug fix

• SDF.Implement: fixed joint articulation linking
• Device: Articulation and Motor module fixed

What's Changed

• Fix physics parameters by @hyunseok-yang in #260
• Merge from 'develop' into 'main' for CLOiSim-4.1.0 by @hyunseok-yang in #261

Full Changelog: 4.0.0...4.1.0

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: v2.0.0

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

CLOiSim-4.0.0

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: 2022.3.7f1 (LTS)
• General: Change Graphis API, Vulakn -> OpenGLCore
• SDF.Implement: Introduce VHACD collision mesh
• SDF.Implement: Set new paramters for Articulation Body
• Sensor: Apply BurstCompilation for Laser and Camera
• Sensor: add new type of module in Realsense

Minor

• Rendering: Modify URP pipeline parameters
• General: Modify NavMeshObstacle

Bug fix

• UI: Model deploying

What's Changed

Full Changelog: 3.2.0...4.0.0

Version matching for this release

• ros2-humble
  • cloisim_ros: humble-3.3.1
  • 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: v1.7.1

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

CLOiSim-3.2.0

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 22.04.2 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2021.3.25f1 (LTS)

Minor

• CLOiSImPlugin: new sonar sensor plugin added
• General: Upgrade plugin library
  • NetMQ: 4.0.1.11 -> 4.0.1.12
  • Newtonsoft.Json: 13.0.1 -> 13.0.3

Bug fix

• Sensor.Device: fix cannot find left/right camera in Multi-Camera sensor

What's Changed

• CLOiSim-3.2.0: Squash merge 'main-to-develop(merged from develop)' into main by @hyunseok-yang in #254

Full Changelog: 3.1.2...3.2.0

Version matching for this release

• ros2-humble
  • cloisim_ros: humble-3.3.0
  • 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: v1.7.1

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

CLOiSim-3.1.2

Build Environment

Linux & Windows

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 22.04.2 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2021.3.23f1 (LTS)

Minor

• Service: suppress log print when 'device_list' is requested
• General: Upgrade plugin library
  • protobuf-net: 3.2.8 -> 3.2.16
  • NetMQ: 4.0.1.10 -> 4.0.1.11

Bug fix

• Sensor.Device: Fix Lidar::OnVisualize(), consider rmodel rotation

What's Changed

• CLOiSim-3.1.2: Squash merge 'main-to-develop(merged from develop)' into main by @hyunseok-yang in #251

Full Changelog: 3.1.1...3.1.2

Version matching for this release

• ros2-humble
  • cloisim_ros: humble-3.2.1
  • cloi_common_interfaces: humble-3.0.0
• ros2-foxy (foxy will not support the latest version of CLOiSim soon)
  • cloisim_ros: foxy-2.13.1
  • cloi_common_interfaces: foxy-2.0.0
• resources
  • samples_resource: v1.7.1

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

CLOiSim-3.1.1

Build Environment

Linux & Windows

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 22.04.2 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2021.3.19f1 (LTS)

Minor

• General: Upgrade plugin library
  • protobuf-net: 3.1.33 -> 3.2.8

What's Changed

• CLOiSim-3.1.1: Squash merge 'main-to-develop(merged from develop)' into main by @hyunseok-yang in #248

Full Changelog: 3.1.0...3.1.1

Version matching for this release

• ros2-foxy
  • cloisim_ros: foxy-2.13.1
  • cloi_common_interfaces: foxy-2.0.0
• ros2-humble
  • cloisim_ros: humble-3.1.1
  • cloi_common_interfaces: humble-3.0.0
• resources
  • samples_resource: v1.7.1

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

CLOiSim-3.1.0

Build Environment

Linux & Windows

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 20.04.5 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2021.3.17f1 (LTS)
• Device: Modify destination format for AsyncGpuReadback in DepthCamera/Camera

Minor

• Device.Sensor: Separate LaserData.DepthCamBuffer into DepthData.CamBuffer
• Device.Sensor: Set dithering true for camera sensor in Lidar/Camera/DepthCamera
• UI: Modify properties for RuntimeGizmo
• UI: Modify multiplying handle length in RuntimeGizmo
• General: Modify parameter in UniversalRenderPipelineGlobalSettings

Bug fix

• Device: Modify Camera(Depth) sensor device to fix wrong depth information with L16
• Device: Modify LiftControl::DoLifting() to prevent shaking object during lifting
• UI: Prevent bouncing from floor during tranforming target

What's Changed

• CLOiSim-3.1.0: Squash merge 'main-to-develop(merged from develop)' into main by @hyunseok-yang in #245

Full Changelog: 3.0.6...3.1.0

Version matching for this release

• ros2-foxy
  • cloisim_ros: foxy-2.13.1
  • cloi_common_interfaces: foxy-2.0.0
• ros2-humble
  • cloisim_ros: humble-3.1.1
  • cloi_common_interfaces: humble-3.0.0
• resources
  • samples_resource: v1.7.1

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

CLOiSim-3.0.6

Build Environment

Linux & Windows

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 20.04.5 LTS (64-bit)

Changes

Major

Minor

• Device.Elevator: control the object which has articulation body and props.

Bug fix

What's Changed

• CLOiSim-3.0.6: Squash merge 'main-to-develop(merged from develop)' into main by @hyunseok-yang in #238

Full Changelog: 3.0.5...3.0.6

Version matching for this release

• ros2-foxy
  • cloisim_ros: foxy-2.13.0
  • cloi_common_interfaces: foxy-2.0.0
• ros2-humble
  • cloisim_ros: humble-3.1.0
  • cloi_common_interfaces: humble-3.0.0
• resources
  • samples_resource: v1.7.1
  • cloi_resources: cloi_resources - 2.6 <- Currently only for private member
  • world_resources_yangjae_city: world_resources(yangjae city) - 1.0 <- Currently only for private member

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

CLOiSim-3.0.5

Build Environment

Linux & Windows

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 20.04.5 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2021.3.16f1 (LTS)
• Update package version

• com.unity.burst: 1.7.3 -> 1.8.2

Minor

Bug fix

• Device.Elevator: Bug fix the problem that elevator can't carry a robot.

What's Changed

• CLOiSim-3.0.5: Squash merge 'main-to-develop(merged from develop)' into main by @hyunseok-yang in #235

Full Changelog: 3.0.3...3.0.5

Version matching for this release

• ros2-foxy
  • cloisim_ros: foxy-2.13.0
  • cloi_common_interfaces: foxy-2.0.0
• ros2-humble
  • cloisim_ros: humble-3.1.0
  • cloi_common_interfaces: humble-3.0.0
• resources
  • samples_resource: v1.7.1
  • cloi_resources: cloi_resources - 2.6 <- Currently only for private member
  • world_resources_yangjae_city: world_resources(yangjae city) - 1.0 <- Currently only for private member

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