CLOiSim-2.3.1

Build and Tested Environment

• Processor: Intel® Core™ i9-8950HK CPU @ 2.90GHz × 12
• Memory: 32GB
• Graphics: NVIDIA Corporation GP104BM [GeForce GTX 1080 Mobile]
• OS: Linux/Ubuntu 20.04.2 LTS

Changes

Major

• Upgrade Unity editor version
  -> 2020.3.7f1 (LTS)

• Sensor Device related

  • parsing output type for laser scan in LaserPlugin
  • Memory handling for native array in Camera Sensor device
  • Modify Lidar Sensor Device code
    • using callback function for AsyncGPUReadackRequest
    • native array memory handling for LaserCamData and DepthCamBuffer structure
  • handling Memory leackage for nativearray in Lidar Sensor devcie

• SDF related

  • Change wheel properties in MicomPlugin
    : wheel/base -> wheel/tread

Minor

• Versions

  • Update app version info in Project settings
    : 2.3.0 -> 2.3.1

• Sensor Device

  • Add protection code in depth camera
    • null check for compute shader
  • Change class name
    • DevicePlugin -> CLOiSimPlugin
    • DevicesPlugin -> CLOiSimMultiPlugin
  • Handling CLOiSimPlugin when destory the objects before close the application -> Stop thread
  • Change to reusable command buffer in Camera Sensor device
  • Trying to save memory in Motor Module and it does not call SetTargetVelocityAndForce() method when direction is switched
  • missing call base method from OnDestroy() method in inherited class
  • Change global spherical coordniates for GPS sensor device in DeviceHelper

• General

  • Disable BakeMesh option in ProjectSeetings

• Services

  • remove websocket when destory the object

• GUI

  • add yield for coroutine in MarkerVisualizer
  • Moved Drawing contact line on Editor mode into OnDrawGizmos() method for SDF.Helper.Link() class

Bug fix

• Sensor device
  • Bug Fix: missed calling ProcessDevice() method in DeviceThread()

Version matching for this release

• samples_resource: v1.4.0
• cloisim_ros: foxy-2.9.0
• sim_device: dashing version does not support anymore since dashing was end-of-support.

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

CLOiSim-2.3.0

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
  -> 2020.3.7f1 (LTS)

• General

  • Change handling Clock object in DeviceHelper
    • set clock object in Main class

• Rendering

  • Apply new render pipeine and update proejct setting for URP(universal render pipeline)
    • Update UniversalRenderPipelineAsset settings
    • Update Graphic settings and URP pipeline
    • Change Anti aliasing quality(MSAA) -> 2X
  • Apply new shader(universal RP) as a material
  • Modify Code for applying URP
  • Modify the code that apply materials for transparent and opaque mesh
  • Update materials and drawing in RuntimeGizmo for URP
  • Change the order of calling mesh optimization in ProceduralMesh

• Sensor Device related

  • Camera & DepthCamera
    • Apply Compute Shading for depth buffer scaling in R16 data format(used in realsense)
    • Modify rendering part for Camera Sensor device (+depth sensor)
    • Destroy and release compute shader in Camera sensor device
    • Change member variable name in Camera modules
    • Modify the code that applies depth buffer handling for laser sensor device after change UniversalRP
  • Lidar
    • Modify Lidar Sensor device to support Vertical lidar data
    • calculate the total samples considering Vertical samples in laser scan
    • Remove adjusting waitingPeriodRatio in Lidar Sensor device
    • Change Array.Copy to Buffer.BlockCopy in Lidar Sensor Device
    • Change batchsize for JobSchedule in Lidar
    • Modfiy Sensor device to enhance performance: remove Array.Reverse() -> handling depth shader
  • Micom
    • Modify the interface in Micom Device: MicomInput -> use Twist msg , move 'reset_odometry' handling into MicomSensor
      • Add new protobuf message: Twist, Empty
    • Add protection code for finding wheel motor in MicomSensor device
    • Remove unused method in Motor modules
  • Add new Device Mode using System.Thread in Device Class: new Mode (TX_THREAD, RX_THREAD)
    • Change device mode type(TX -> TX_THREAD) for Camera, GPS, Lidar, MicomInput, MicomSensor, IMU, Clock
    • Change default update rate(100 -> 50) for Clock
    • remove calling ProcessDeviceCoroutine() method in DeviceThreadTx() and DeviceThreadRx()

• SDF related

  • Change the order of calling SDF importing method
    • call "ImportJoints" and "ImportPlugins" methods after call "AfterImportModel()" method
  • Remove convex handling in Import.Link() method
  • Modify SDF parser for lidar vertical element

• Physics related

  • make it convex false for Plane collision
  • Modify code that handling convex for articulation body

Minor

• Versions

  • Update app version info in Project settings
    • 2.2.1 -> 2.3.0
  • Update package version
    • textmeshpro: 3.0.5 -> 3.0.6

• Sensor Device

  • Handling thread and coroutine after object destroy or stop
  • renaming variables in DepthCamera
  • Modify Reset() method in IMU
  • Code refactoring
    • Lidar sensor device
      • Change member variable naming in Lidar class
        • Do not use a prefix for member variables (, m, s_, etc.).
    • Lidar Sensor device to enable vertical lidar data
    • supporting vertical lidar in Lidar Sensor Device

• SDF related

  • Parse and implement gravity value in Import.World
  • Code refactoring and code clean-up
    • SDF.Helpler.Link, Implement.Joint, Import.Joint
  • code refactoring for SDF.Implement collision and visual
    • Combine redundancy method -> MergeMeshes() method
  • Add new method in SDF2Unity

• General

  • Change script execution Order
    • Simulationworld and Main
  • Change class name
    • CLOiSimWorld -> SimulationWorld
  • Apply coding style -> Do not use a prefix for member variables (, m, s_, etc.).
    : Devices, Device.Camera, UI and Tools/SDF
  • Call Resources.UnloadUnusedAssets() when destroy TransformGizmo

• Services

  • Set color for Text Marekrs

• GUI

  • Change properties in TransformGizmo
  • Apply random color for props deploying
  • Apply TransformGizmo drawing for only MainCamera
  • Move Materials in RuntimeGizmo
  • Add simulationDisplay in BridgeManager to print error message
  • Code refactoring for UI and enhance styling GUISkin
  • make it reusable variables for UI simulation display
  • Separate SimulationDisplay Class
    • Change color for FPS display
    • Separate the GUI part in Object spawning class
    • Change the position of FPS info in simulation display
    • Minor adjustment for UI position
    • Add new Help Menu: new UI button for help menu
    • add mouse wheelblocking flag and change amount of weel movement in CameraControl

Bug fix

• UI

  • add null protection in UI Gizmo
  • Fix Gizmo manipulation for actor object

• Services

  • Fix null object handling in simulation service for 'markers'

• Sensor device

  • Bug fix in Lidar Sensor Device
  • Fix setting intial parts pose in MicomSensor

• SDF related

  • Bug fix in SDF.Entity parser
  • (crash issue)Bug fix: Change the order of importing SDF elements
    • before: Models -> Links -> visual -> collision -> joint -> plugin
    • after: Models -> Links -> visual -> collision -> joint(store only information) -> plugin
      import and implements joints after all models are loaded.

Version matching for this release

• samples_resource: v1.3.0
• cloisim_ros: foxy-2.8.2
• sim_device: dashing version does not support anymore since dashing was end-of-support.

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

CLOiSim-2.2.1

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
  -> 2020.3.4f1

• Sensor Device related

  • Reset target velocity(linear/angular/left/right) when reset is called
  • Change a condition to call ConvertToStaticLink() method
    • set child articulation body immovable in ConverToStaticLink() method

Minor

• Versions

  • Update app version info in Project settings
    • 2.2.0 -> 2.2.1
  • Update package version
    • textmeshpro: 3.0.4 -> 3.0.5

• SDF related

  • visual
    • Parsing meta element in visual element and import
  • sensor
    • Parsing SDF element in
    • Fix SDF parser when parsing camera.clip
      • null checking
  • geometry
    • Add name on mesh geometry game object
    • Set name for mesh geometry gameobject
  • actor
    • Add null check for animation when importing SDF.Actor
    • remove bone rotation in loading animation class
    • apply scaling on create skin object and loading animation
    • correct rotation, position, scaling after loaded

• General

  • update default file root directories in MainScene.unity

• GUI

  • Add text color for event/error message
    • red: event
    • green: error

Bug fix

• Change properties of capsule collider in Actor

• Fix display location of FPS when resizing window

• SDF related

  • light
    • Bug fix wrong light type in SDF Light importer
  • geometry
    • fix the roation and scaling of mesh(+skin) importing(by assimp)
    • Fix mesh importing for collada files
    • fix rotation for Actors
      • bind pose, bones and skin
    • fix the code that create 'geometry(mesh)' game objects in collision object that unmerged and merged also
      • fix gizmo transform after selection
      • Modify code in LiftControl(Elevator) due to change of object structure in Collision object
  • joint
    • Fixed joint for articulation body connection
      • Change structure of geometry object for primitive mesh
      • enable convex in mesh collider for articulation body and disable convex for non-articulation body

Version matching for this release

• samples_resource: v1.2.1
• sim_device: dashing-1.10.2
• cloisim_ros: foxy-2.8.0

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

CLOiSim-2.2.0

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

• samples_resource: v1.2.0
• sim_device: dashing-1.10.2
• cloisim_ros: foxy-2.7.0

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

CLOiSim-2.1.0

Build and Tested Environment

• Processor: Intel® Core™ i9-8950HK CPU @ 2.90GHz × 12
• Memory: 32GB
• Graphics: NVIDIA Corporation GP104BM [GeForce GTX 1080 Mobile]
• OS: Linux/Ubuntu 20.04.2 LTS

Changes

Major

• Enable parsing SDF Actor

• import and implement actors

  • set skin
  • set animation
    • Import animation clip for animation component
  • set script

• modify SDF2Unity Mesh script using assimp-net

• Separate mesh handling methods in SDF2Unity into MehLoader

• Code refactoring for Assimp Mesh Loader

  • fix rotation for skin

• Parse and implement Animation in actor sdf element

• code modified for animation curve in animation clip

• Fix rotation for animation bone axis

• apply loop pose for legacy animation clip

  • it does not add x curves if node is root

• add capsule collider for actor

• Sorting waypoint list by time when parsing actor element

• Apply following waypoint for actor

• Modify Transform Gizmo for actor

  • only support tranlate the actor with trajectories in script
  • suppport translate and rotation for the actor with trajectories

Minor

• Print error message on UI when it failed to load document(world file)

• change type of Time to double
  -> Unity support .....timeAsDouble

• Modify textfield property in object spawning

  • text alignment

• Code refactoring for MeshLoader

  • separate bone loading

• Change file name
  : ProdeceduralMesh -> ProceduralMesh (typo)

• Move Assimp.XXXXX.cs files into Tools/Mesh/*

• Change order of calling method in ProceduralMesh

  • optimize mesh before recalculate others...

• Fix the type of SDF element in actor
  : bool -> double

Bug fix

• Fix properties of simulation display

  • bug fix height position for textbox of event and simulation message when resizing windows
  • resize width of event message

• bug fix in SDF parser

  • GetValues() method had wrong xpath

• Change order of calling method in SDF.Implement.Collision/Visual

  • optimize mesh before recalculate others...

• Handling Bone and tangent for mesh when import meshes

• Fix bone list and bind pose matrix in SkinnedMeshRenderer for actor

• bone index for bind pose is important
• set the bind poses and bon weights after combine meshes

Version matching for this release

• samples_resource: v1.0.3
• sim_device: dashing-1.10.2
• cloisim_ros: foxy-2.5.0

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

CLOiSim-2.0.1

Build and Tested Environment

• Processor: Intel® Core™ i9-8950HK CPU @ 2.90GHz × 12
• Memory: 32GB
• Graphics: NVIDIA Corporation GP104BM [GeForce GTX 1080 Mobile]
• OS: Linux/Ubuntu 20.04.2 LTS

Changes

Major

• Update app version info in Project settings

  • 2.0.0 -> 2.0.1

• Upgrade Unity editor version

  • 2020.2.7f1

• Update package version

  • Core RP Library: 10.3.1 -> 10.3.2

• Apply pose of Joint(SDF) when apply anchor position for articulation body

• Update Dynamic parameters for physics

  • solver Iterations: 10
  • solver velocity iteration: 5

• Changes in Motor module

  • change to retrieving motor velocity using jointPosition
  • remove getting averaged joint velocity

• (GUI) Print error meessage on simulation display during SDF parsing

Minor

• Add protection code in Lidar Data generation

• Parameter name changed in ImportJoint Method

• refactoring for SDF sensor ray range element

• Change GUI properties

Bug fix

• Bug fix in Lidar Sensor device

  • Set sensor position and rotation for lidar
    • fix rotation for lidar visualization

• Fix in Motor module

  • set false in rapid direction control after stop

• Bug Fix in Lidar Sensor device

  • calculate angle step
  • deg to rad for vertical angle

Version matching for this release

• samples_resource: v1.0.3
• sim_device: dashing-1.10.2
• cloisim_ros: foxy-2.5.0

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

CLOiSim-2.0.0

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

• samples_resource: v1.0.2
• sim_device: dashing-1.10.2
• cloisim_ros: foxy-2.5.0

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

CLOiSim-1.11.0

Build and Tested environment:

• Processor: Intel® Core™ i9-8950HK CPU @ 2.90GHz × 12
• Memory: 32GB
• Graphics: NVIDIA Corporation GP104BM [GeForce GTX 1080 Mobile]
• OS: Linux/Ubuntu 20.04.2 LTS (64Bits)

Changes:

• Major

  • Physics solver type changed: PGS->TGS
    • all physics related parameter and configuration are modified.
    • remove manual joint anchor correction
  • code refactoring for SDF

• Bug fix

  • wrong index calculation in Lidar Device sensor

• Minor

  • upgrade Core RP package
  • Support mouse scroll in runtime gizmo
  • graphical parameter changed in Shader

Version matching for this release:

• samples_resource: v0.4.1
• sim_device: dashing-1.9.0
• cloisim_ros: foxy-2.4.5

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

CLOiSim-1.10.1

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 20.04.1 LTS

Changes:

• Bug fix

  • models show visual object for collision object.
  • Update Dockerfile to fix mouse cursor color problem in Docker Container

• Minor

  • upgrade Core RP package
  • change namespace of protobuf messsage: gazebo.msgs -> cloisim.msgs
  • change name of environment variable: SIM_BRIDGE_IP -> CLOISIM_BRIDGE_IP
  • change name of variables: unity_ros -> cloisim_ros
  • tuning sensitivity of UI Camera

Version matching for this release:

• samples_resource: v0.3.1
• sim_device: dashing-1.9.0
• cloisim_ros: foxy-2.4.2

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

CLOiSim-1.10.0

Build environment: Linux/Ubuntu 20.04
Tested environment: Intel(R) Core(TM) i9-8950HK, 32GB, NVIDIA GeForce GTX 1080 Mobile, Ubuntu 20.04

• Changes

  • add and change interface between cloisim and sim_device(micom_driver_sim)

    • (new) command
    • (changed) control_type -> control

  • new micom control command added in micom_driver_sim

    • ros2 service 'reset_odometry': reset odometry pose

• Version matching for this release

  • samples_resource: v0.3.1
  • sim_device: dashing-1.9.0
  • sim_device: foxy-2.3.0

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