2021.3

Added

• Content creation:
  • Annotation size support
  • Map preview option can be set by user
  • SDF importer and STL fixes and improvements
  • Lighting for indoor environments
  • Rain colliders for indoor environments
  • New indoor environments with costmaps: Warehouse, WarehouseDT
  • Add map support for NavOrigin
• Sensors:
  • Sensors support multiple data feeds, e.g. RealSenseSensor
  • Async GPU readback support for Lidar, DirectionalLidar, VelodyneLidar for performance boost
  • LaserScan support for Lidar2D
  • 2D/3D Ground Truth sensor accuracy improvements
  • New sensors: Lidar2DSensor, DestinationSensor, IntelRealSense
• Agents:
  • NPCManager extension for creating complex NPC behaviors like Parking
  • NPC support customized rigidbody and wheel collider settings: F1Tenth
  • New pedestrian models: See VRU/Walkers: Jun, Yun
• General:
  • Loaded Assets main menu option for assets in memory
  • Docker support for enabling scenario runners on windows
  • Console for Docker logs
  • Graphics setting menu
  • Main Menu simulator/unity/webUrl display for debugging
  • Added TargetGear for Autoware Auto reverse driving
• Visual scenario editor:
  • Ego Lane Following feature for VSE playback
  • Support for the BezierSpline paths in the waypoints
  • Support for the NavOrigin
  • Added acceleration support for agents' waypoints
• Python API:
  • Add Python API commands for Destination sensor
  • API function to set/get NavOrigin in/from scene
  • API versioning support
• Web user interface:
  • Local Automation support
  • Local automation API token access token creation, listing, and deletion in User Profile page
  • Added preservation of the order of sensors in a sensor configuration
  • Added 'Add to Library' modal preview
  • Added preview images for private asset links in Skype, Facebook, LinkedIn, etc.
  • Added preview images for Simulation links in Skype, Facebook, LinkedIn, etc.
  • Implemented accurate trending algorithm
  • 'Draft' feature for Simulation creation page
  • Improved Simulations gallery loading performance

Changed

• Moved simulator input actions to sensor bundles
• Visual scenario editor:
  • Smoother agent rotation while in playback mode
  • Fix for editing controllables policy and resetting map signals policies
• Miscellaneous Github issue fixes:
  • API connection fixes
  • Bridge connection fixes
  • Custom Bridge fixes
  • Point Cloud renderer fixes
  • Add checks for pedestrian and traffic annotation for api random agents
  • Development Settings fixes and improvements. Supports cloud assets
  • Import HDMap tool fixes
  • BaseLink fixes
  • Radar velocity fix
  • Build asset fixes
  • NPC segmentation id issues in API
  • Fixed OpenDrive MapOrigin export logic
  • Fix export point cloud feature in simulator editor. Requires latest Lidar Sensor
  • OpenDrive, Apollo Lane, Sign and Signal IDs import & export
  • Refresh cached sims on deleted asset
  • NPC/Pedestrian pool no longer removes existing agents
  • Fixed NPC controller stopping all coroutines on the initialization
  • Fix for Input package error on lost focus
  • Correct name of Cyber bridge asmdef file
  • Fixed initializing spawns manager if there are no active agents
  • Bridge client watchdog coroutine
  • Fix lighting on API agent spawn
  • Removed NavSystem from pedestrian waypoint behavior
  • Fixed invariant float and double parameters in NMEA
  • Fixed SF, Shalun, Highway101 map origin rotation issues
• Package updates:
  • Update WebSocketSharp
  • Added more debugging logs for FBX2glTF
  • Remove old input unity work arounds for Linux
  • Extracted Pedestrians' behaviours from the PedestrianController
  • Remove Apollo 3.0 support
  • Adding detail map and albedo tint to environment shader
• Web user interface changes:
  • Updated User Content License to User General Content License
  • User Premium Content license introduction and sort order change
  • Improved asset update progress indicator
  • Improved asset upload error message displays and language
  • Fixed Sharing window issue and Test Report snapshot issue with APIOnly simulations
  • Fixed version compatibility validation when simulation does not have cluster assigned
  • Plugin preview image improvement
  • Fixed simulation assets dropdown when there are more than 30 assets in Library
  • Fixed asset previews in Skype and Facebook
  • Removed markdown markup language from descriptions in link previews
  • Increased size restriction for asset bundle
  • Fixed critical bug related to vehicle asset not being found when sensor configuration's plugin was deleted
  • Fixed critical bug related to asset deletion