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_propertiesreturns the list of the properties of the componentget_configurationsreturns 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
ControlTypeof 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 theControlTypeparameter of the actuator (#117).
Sensors¶
Each sensor has now an additional field
timestampexporting 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
rawlevel of details. Moreover, it exposes also time and heading in theextendedlevel.Batteries are now rechargeable in
ChargingZone.
Middlewares¶
Pocolibs¶
pocolibsis now able to export velodyne sensor.
Socket¶
Add a new
DepthCamerapublisher.VideoCameranow publish base64 encoded RGBA image.
Builder API¶
API changes¶
place_cameraandaim_camerahas been deprecated in favor ofset_camera_locationandset_camera_rotation.VelodynebecameVelodyneRayCastandVelodyneZBbecameVelodyneVelodyneZBstill works for compatibility.
API addition¶
Add a method
Environment.set_physics_step_suballowing 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
sleepandtimeto handle time-related request. These methods are equivalent to the one provided by theTimemodule, but considers properly the simulated time. It is recommended to use these methods overTimeone.