Release Date

2022/03/29 16:00 PM (GMT +9)

Simulator

MORAI SIM: Drive ST

Version

22.R1.1

Updates

  • New versioning system

    • Starting from version 22.R1.1, MORAI SIM versions now follow a [Year] [Release Cycle] [Version #] system.

  • Map and environment updates

    • R_KR_PR_SejongBRT0

      • Added fencing and more visual detail to impassible regions (along the centerline).

      • Improved terrain and road surface continuity.

  • NPC parameters

    • Added new parameters for greater control of NPC vehicles.

  • Scenario editor QOL improvements

    • When placing NPC vehicles, MORAI SIM now remembers if you are using the Random Vehicle setting.

  • MORAI SIM gRPC API

  • Coordinate display feature

    • You can now click on parts of the 3D environment to return coordinate data.

  • Viewfinder save feature

    • You can now save a list of camera positions for the main viewfinder.

    • This feature addresses issues where users would set up the viewfinder to record a scene, only to be automatically sent elsewhere in scenario mode.

  • Improved lidar sensor data capture

    • When using sensor capture for lidar sensors, rotation values (roll, pitch, yaw) are also saved to the instance file.

  • Introducing Tooltips

    • Hovering the mouse cursor over certain menu titles or icons will now display a short tooltip with additional information.

  • Changes to the default coordinate systems

    • Obstacles now conform to an ENU coordinate system.

  • New names for ROS protocols

    • Updated the protocol name for loading scenarios from KaistSLSubscriber to MoraiSLSubscriber.

  • Support for Hotkeys

    • The keyboard function keys are now shortcuts to commonly used features. For quick reference, use the F1 key to view the keyboard legend.

Bug Fixes

  • Resolved a reverse compatibility issue where older versions of scenario .json files would not load properly.

  • Fixed a bug that would not save the initial starting point when building custom maps. Requires users to download a new version of the AssetbundleEditor.dll file

  • Fixed an issue where the internal driver logic for the 2020 Kia Stinger would behave erratically.

  • Vehicles generated by spawn points now reach their target speed.

  • The Ioniq vehicle model’s reverse (backup) lights now turn off properly when shifting out of reverse.

  • Resolved an issue that prevented the camera sensor view from changing aspect ratios.

  • When using the Sensor Capture Mode for lidar sensor data with lidar error applied, each point cloud data point would have a different error value depending on intensity. This behavior has been changed to apply constant error values across all points regardless of intensity.

  • Added physical modeling for a parking handbrake to prevent cars from slowly creeping downhill while parked.