lgsvl/simulator: 2021.2

Note: If you are cloning our repository to work with the source code for this release, please make sure to clone the release-2021.2 branch and NOT master.

• External Pedestrians and NPC (other traffic vehicles) Support
• New NPCs and Pedestrians like Scooters, Bicyclists and Animals
• External Bridge Support
• Multiple simulator asset bundle versions support
• Rain Collision effect
• Support for simulations without EGO (Spectator Ego)
• New "Driver view" camera state
• New API to set simulator camera state
• Annotation tool to set accurate values (position, rotation and scale) for MapOrigin
• New "clear cache" option
• Ability to use proxy server for cloud_url in config.yml
• New enhanced web user interface:
  • Improved visual sensor editor
  • Ability to clone Sensors in sensor configuration
  • User warning messages for privilege based restriction
  • Markdown support for Asset description

• Unity Upgrade to 2020.3.3f1
  • Revert FBX package to 3.2.1-preview.2
  • Remove overdraw with HDRP flare
• Improved NPC handling:
  • Fixed rotating NPC wheels when using NPCWaypointBehaviour
  • Pedestrian ground truth from bounds
• Improvements and bug fixes around Distributed Simulation with multi-ego support:
  • Fixed API mode for distributed simulation on a single machine
  • Fixed pedestrian animations on client machine
  • Improved distributing VehicleActions
  • Support for the ArticulationBody in distributed simulations
  • Improved load balancing of the sensors
• Updated Sensor support:
  • Fix TF visual and sensor hierarchy
  • update input for g920 wheel for windows
  • Publish camera intrinsic parameters to ROS and ROS2
  • Rework lidar to use cubemap
• Improved lighting and rain:
  • Fix brown lighting
  • Rotate sun and moon to match map rotation
  • Rain collision improvements and fixes
  • Fix overlapping rain chunks
• Enhanced Visual Scenario Editor support:
  • Minor UX fixes
  • Fixed changing agents' variants
  • Fix issue with agent dropdown not refreshing on click
  • Loading pedestrians from config
• Improvements around HD Map Mesh Generator:
  • Improve data handling in HD map mesh builder
  • Erosion and re-leveling for point cloud mesh
• Work in progress improvements on Developer mode:
  • Rework developer settings
  • Bundle version uptick and unity editor check on developer debug mode for bridges
  • Sensor debug developer loading
• More enhanced and user friendly web user interface:
  • Password Sensitivity improvements
  • GLTF editor bug fixes and improvements
  • HD map preview improvements
  • Simulation invalid items management
  • WCAG accessibility UI compatibility
  • Live Test Results view in Simulation Profile
  • Updated algorithm for Trending assets view
  • Simulation form auto-save
• Misc Improvements:
  • Support default light layers in point cloud renderer
  • Loads assembly with the ego name from asset bundle
  • Added public driver view transform to be set in the Inspector
  • Asmdef added, loader fixed to deal with bundle/WISE name mismatch
  • Loader: improve the error message about BundleFormat
  • Make sure Simulator.Editor.Build.Run exits on any exception
  • Trimming last slash in the cloud url if needed.
  • get full path from data path provided