cloisim

Add a new compute or surface shader for sensor data processing or visualization. Use when: implementing GPU-side sensor processing, adding a new visual effect, creating a ray tracing shader for a sensor.

Debug CLOiSim plugin startup, Started-event hangs, transport registration failures, BridgeManager port issues, request-handler failures, and teardown leaks. Use when: a plugin never starts, world/model load times out, ports are missing or duplicated, device transport stops flowing, request/reply handlers fail, or plugin destroy/reset behavior looks wrong.

Debug and fix a bug by starting from one concrete failure, forming a falsifiable local hypothesis, making the smallest grounded edit, and immediately running focused validation. Use when: debugging a failing test, regression, runtime error, compiler error, wrong behavior, or a review comment asking for a narrow fix.

Add or modify SDF actors with skeletal animation and waypoint-based navigation. Use when: importing animated characters, setting up trajectory waypoints, configuring NavMesh agents for actors, debugging animation playback, adding skinned mesh support, working with Assimp bone hierarchies.

Import 3D mesh files into CLOiSim via the Assimp pipeline, including collision generation and procedural meshes. Use when: adding a new mesh file format, debugging mesh import issues, generating convex hull colliders via VHACD, creating procedural geometry, fixing texture loading or UV mapping problems.

Configure Unity ArticulationBody joints from SDF joint definitions. Use when: adding a new joint type, debugging joint axis alignment, tuning spring/damping/limits, fixing revolute or prismatic joint behavior, setting up parent-child articulation hierarchy.

Understand and extend the CLOiSim world load → plugin start → reset → save lifecycle. Use when: debugging world loading failures, troubleshooting plugin startup coordination, fixing reset behavior, extending the world save pipeline, diagnosing physics mode switching issues, understanding PluginStartTracker events.

Create and configure URP materials from SDF material definitions or Assimp imports. Use when: setting up base color, emission, specular, or normal maps, switching transparency modes, debugging texture loading, converting materials to SpeedTree shader, customizing URP material properties.

Add a custom noise model for sensor data simulation. Use when: implementing a non-Gaussian noise type, adding distance-dependent noise, creating a new sensor-specific noise profile.

Extend the SDF parse → import → implement pipeline with a new element type. Use when: adding support for a new SDF XML element, extending world/model import, creating new Helper MonoBehaviours.

Add a new UI panel, control, or overlay to CLOiSim's HUD. Use when: adding a new button or panel to UIController, creating a new camera mode, adding an info overlay.

Convert between SDF (right-hand) and Unity (left-hand) coordinate systems. Use when: implementing pose transforms, converting sensor data between coordinate frames, debugging position/rotation mismatches.

Debug and troubleshoot the NetMQ transport layer, port allocation, and device communication. Use when: diagnosing connection failures, debugging message flow, troubleshooting port conflicts, verifying device registration.

Add a new motor or drive controller for robot locomotion. Use when: implementing a new drive type (e.g., mecanum, Ackermann, legged), adding a new actuator controller, creating a custom motion model.

Add a new CLOiSimPlugin for bridging a device to the ROS 2 transport layer. Use when: creating a transport bridge for an existing device, adding bidirectional control, implementing a new actuator plugin.

Add a new sensor device to CLOiSim, including the Device subclass, SDF pipeline wiring, and transport plugin. Use when: adding a new sensor type, implementing a new SDF sensor, creating a new device class.

Add a new protobuf message type for CLOiSim transport. Use when: defining a new sensor data format, adding a new command message, extending the transport protocol.

Add a new WebSocket command to the simulation control service. Use when: adding a new runtime control command, exposing simulation state via WebSocket, adding a new service endpoint.