What’s new in MORSE 1.2?
General
- Time management in Morse has been clarified (#388). See
time management documentation for more details about it.
- Implement the notion of zone, i.e. a 3d space which several properties which
can trigger various behaviours in the simulation. See here to see how to define zone in your scenario.
- Add new services for the CamaraFP settings.
- F7 moves CamaraFP above robots
Components
- Each component now has two new services:
get_properties
returns the list of the properties of the component
get_configurations
returns the value of the different properties of
the component.
Robots
- Most robots are now using more realistic physical behaviour.
Actuators
- Armatures have received some love, with
support for placing and controlling inverse kinematics targets to easily
control the full skeleton with inverse kinematics.
- The default
ControlType
of several actuators
(Linear and angular speed (V, W) actuator, Waypoint,
Linear and angular speed (Vx, Vy, W) actuator, Keyboard Actuator,
Joystick Actuator) has been switched from “Position” to
“Velocity”. It basically means it relies more on the underlaying physic
engine, providing a more realistic behaviour, but it may be less repeatable.
The previous behaviour can be restored by setting explicitly the
ControlType
parameter of the actuator (#117).
Sensors
- Each sensor has now an additional field
timestamp
exporting when the
data has been computed, in simulated time.
- the GPS has been vastly improved. In addition to (x, y,
z) position, it can also returns geodesic coordinates and velocity in the
raw
level of details. Moreover, it exposes also time and heading in the
extended
level.
- Batteries are now rechargeable in
ChargingZone
.
Middlewares
Pocolibs
pocolibs
is now able to export velodyne
sensor.
Socket
- Add a new
DepthCamera
publisher.
VideoCamera
now publish base64 encoded RGBA image.
Builder API
API changes
place_camera
and aim_camera
has been deprecated in favor of
set_camera_location
and set_camera_rotation
.
Velodyne
became VelodyneRayCast
and VelodyneZB
became Velodyne
VelodyneZB
still works for compatibility.
API addition
- Add a method
Environment.set_physics_step_sub
allowing to control the
number of substep used by the physics engine. A bigger number will make the
simulation slower, but more realistic. The default value in Morse is 2.
Pymorse
API addition
- Add two methods
sleep
and time
to handle time-related request. These
methods are equivalent to the one provided by the Time
module, but
considers properly the simulated time. It is recommended to use these
methods over Time
one.