Release Notes 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

  • MORAI SIM supports a new 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.