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 componentget_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 theControlType
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 ../user/sensors/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 theextended
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
andaim_camera
has been deprecated in favor ofset_camera_location
andset_camera_rotation
.Velodyne
becameVelodyneRayCast
andVelodyneZB
becameVelodyne
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
andtime
to handle time-related request. These methods are equivalent to the one provided by theTime
module, but considers properly the simulated time. It is recommended to use these methods overTime
one.