Release Date

2021/11/09 15:00 PM (GMT +9)

Simulator

MORAI SIM Standard

Version

v4.7.211109.1

Release R | 2021.11.09 | v4.7.211109.1

Updates

  • UI Updates

    • Network UI

      • Changed the Simulator Network tab (in the Network Settings menu) from a drop-down menu UI into a button toggle system

    • NpcGhostMode UI

      • Changed the UI with the settings screen (Access by PlayMode >> Ghost >> NPC Ghost Mode)

  • Ego Ghost Mode

    • Added a new signal interface in UDP Ego Ghost Ctrl Cmd

    • Changed functionality of the ROS Ego Ghost Ctrl Cmd ROS interface.

      • Expanded the Heading field to account for all rotation axes

      • Added ROS messages for rotation, velocity, and steering angle

  • Introducing Workspaces

    • User-selected UI options can now be saved within a Workspace.

    • Accessed through the View >> Workspace >> Save Workspace menu

  • Changes to the IMU sensor model

    • Added options to add boresight offsets and errors to the IMU sensor model

  • Status trigger feature

    • Added the Status Trigger feature to more sensor models (IMU, 2D & 3D Lidars)

  • Updated pedestrian models

    • New animations added to pedestrian models such as pedestrians looking at phones while walking

  • Variable obstacle sizes

    • Added new UI enabling changes to obstacle size in all three (width, length, height) axes

  • Clipping distance option

    • To adjust for machine performance, added an option to change the clipping distance of 3D models in the simulation scene

  • Steering Wheel UI

    • A new steering wheel UI within the viewport settings visualizes the current position of the steering wheel or steering command signal

  • Distance Measurement Feature

    • Added a tool that can measure 2D distance within the simulation scene

  • Viz Path Feature

    • Added a visualization toggle that indicates along which routes the ego-vehicle are following

  • Custom Map Materials

    • The Extra Asset Bundle feature now supports applications of user-selected custom materials

  • OpenDRIVE & OpenSCENARIO Support

    • Support for loading OpenDRIVE based maps, and running OpenSCENARIO based scenarios

    • Added new OpenDRIVE and OpenSCENARIO manual pages

  • Map Updates

    • R_KR_PG_K-City & R_KR_PG_KATRI

      • Changed traffic light timings to match those of the actual facilities in KATRI

    • R_KR_PR_SejongBRT0

      • Expanded the map to include the full BRT line

    • R_KR_PR_Sangam

      • Updated building textures

    • R_KR_PG_KIAPI

      • Optimized the terrain mesh and improved mesh quality

    • V_RHT_Suburb_02

      • Added virtual building meshes to the map

    • V_RHT_Suburb_03

      • New in version 4.7

      • Road geometry is identical to Suburb_02, but with expanded lanes

    • R_KR_PR_Daegu_Technopolis

      • Expanded the map to include roads, intersections, and traffic lights of regions beyond the original map

Bug Fixes

  • Fixed an issue with the 2020 KIA Stinger vehicle model

  • Made changes to improve download speeds for the simulator launcher

  • Fixed the camera view window to support different width/height resolutions (used to only support 1:1 window sizes)