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Merge Dev to Main (#115)
* Adding ROS# link (#39) * Adding ROS# link * Fixing Unity 2020.1.8f1 compatability issues. * Adding precompile error if an older version of Unity is used * Fixing spacing * Removing 2020.1 version enforcement * Remove degree to rad conversions (#44) * AIRO-331 Re-organizing package directory and adding Yamato integration (#41) * Moving package into package folder * Adding test project. * Adding boilerplate tests. * Add yamato config * Disabling audio in test project and adding submodule checkout to Yamato cfg * Adding Unity .gitattributes and normalizing line endings. (#42) * Vidur/remove controller limits for free joints (#45) * AIRO - 365 Add feedback while URDF is being imported (#43) * Convert RobotExtensions to an iterator * Adding EditorCorutine to package manifest * Adding import status data * Updating the assembly file. * Adding option to add or remove progressbar * Update git links with tags(#48) * Regenerating meta files for tests copied from ROS-TCP-Connector * Latest VHACD (#49) * Remove the submodule for now, to avoid a packman bug. (#52) * Update version (#53) * VHACD license -> root folder (#55) * VHACD dlls should not be in LFS * update latest version in readme (#58) * Disable RigidbodyEditor controls at runtime Fix for #59 * test.txt * deleting the txt file added by mistake * Adding default values for Articulation Body Parameters (#57) * Adding a default value if mass is zero. * Correct the null value error in Articulation Body attributes * Adding return value of Create function as GameObject * Adding default values variables for damping and friction * Update link branch from master to main. (#66) * Updating Contribution Content (#68) * Contributing content * PR feedback * Adding PR template (#73) * Resolve conflicts (#80) Merge main to dev and resolve all the conflicts * Update package.json (#84) * Fix bad merge * Fix bad merge * support for runtime urdf importing (#67) * moved "NeedsRuntimeConversion" to Runtime and adjusted namespace * moved MeshProcessing and AssetHandler to Runtime * move all editor only calls to RuntimeURDF.cs * fixed compile issues: builds in runtime, but does nothing * URDF can now be imported in runtime (STL only) * cleanup: moved files into corresponding runtime directories. * Added UnityMeshImporter and AssimpNet plugin * Loading collada files in runtime (using AssimpNet plugin). * Proper creation of materials for HDRP/Standard when loading collada files * disable Assimpnet for IL2CPP builds * added parameter to URDFRobotExtensions.Create() to allow the option of using the runtime import mode in editor. * cleaning up material extensions * disable controller component during import to avoid incorrect configuration. * fix for the default diffuse material in HDRP * minor clean up and code convention fixes * added support for .obj visual meshes * don't enable the controller automatically in runtime mode. * variable name typo fix * Broke the Create() function into pipeline stages to reuse the code for both the none-blocking coroutine and blocking function call. * Added RuntimeURDFImporter component as an example usage of runtime import functionality * fix the bug with editor dialogs * random code formatting fixes * Moved and renamed the Transform extension function FindChildByQuery * fixed materials for URP projects. * removed unused code. * minor code formatting * removed unused code * URDF imported objects lose mesh colliders when made into prefabs (#72) * Saving decomposed mesh * checks to make the newly added vhacd mesh creation be compatible with the runtime mode. * minor code formatting Co-authored-by: Hamid Younesy <hamid.younesy@unity3d.com> * removing lfs as causes issues with the plugin dlls * deleting plugin to add it back without lfs * adding back AssimpNet libraries without lfs * deleting vhacd library to add it back without lfs * adding back VHACD libraries without lfs * Fixed the overexposed highlight color Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> * Hamid/fix bad merge (#87) * Merge 0.3.0 into main (#86) * Adding ROS# link (#39) * Adding ROS# link * Fixing Unity 2020.1.8f1 compatability issues. * Adding precompile error if an older version of Unity is used * Fixing spacing * Removing 2020.1 version enforcement * Remove degree to rad conversions (#44) * AIRO-331 Re-organizing package directory and adding Yamato integration (#41) * Moving package into package folder * Adding test project. * Adding boilerplate tests. * Add yamato config * Disabling audio in test project and adding submodule checkout to Yamato cfg * Adding Unity .gitattributes and normalizing line endings. (#42) * Vidur/remove controller limits for free joints (#45) * AIRO - 365 Add feedback while URDF is being imported (#43) * Convert RobotExtensions to an iterator * Adding EditorCorutine to package manifest * Adding import status data * Updating the assembly file. * Adding option to add or remove progressbar * Update git links with tags(#48) * Regenerating meta files for tests copied from ROS-TCP-Connector * Latest VHACD (#49) * Remove the submodule for now, to avoid a packman bug. (#52) * Update version (#53) * VHACD license -> root folder (#55) * VHACD dlls should not be in LFS * update latest version in readme (#58) * Disable RigidbodyEditor controls at runtime Fix for #59 * test.txt * deleting the txt file added by mistake * Adding default values for Articulation Body Parameters (#57) * Adding a default value if mass is zero. * Correct the null value error in Articulation Body attributes * Adding return value of Create function as GameObject * Adding default values variables for damping and friction * Update link branch from master to main. (#66) * Updating Contribution Content (#68) * Contributing content * PR feedback * Adding PR template (#73) * Resolve conflicts (#80) Merge main to dev and resolve all the conflicts * Update package.json (#84) * Fix bad merge * Fix bad merge Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Hamid Younesy <hamid.younesy@unity3d.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> * removing unused meta file Co-authored-by: LaurieCheers-unity <73140792+LaurieCheers-unity@users.noreply.github.com> Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> * [AIRO-589] Model and collision rotation mismatch (#78) correct collider rotation only for y-axis and add null check * Replace ../ with package://, throw more warnings otherwise (#90) * Replace ../ with package://, throw more warnings otherwise * PR feedback: more descriptive warning message * add changelog (#92) add changelog * Save assets for generated cylinder meshes (#91) * Initial GeneratedMeshes directory commit * Cylinder mesh saving * PR feedback: new cylinder method, Unity decomposer support * PR feedback: non-VHACD cylinder, unit tests * PR feedback: unit test conventions * Forum links to README, config.yml (#96) * Add test coverage (#93) * Math, VHACD Unit Tests (#94) * Math, VHACD tests * Organization for Math, VHACD * Vector3 fixes * fix the bash numeric error (#99) * RuntimeURDF tests (#97) * RuntimeURDF tests, skippping dialogs * PR feedback: removing unused blocks * Geometry, GeometryCollision Tests (#95) * UrdfGeometry tests * Folder organization * PR feedback: test fixes, Yamato config * Added sample STL for Geometry tests * UrdfCollisionExtensions, UrdfCollisionsExtensions Tests (#98) * UrdfCollisionExtensions tests * UrdfCollisionsExtensions tests * Destroy objects, naming conventions * UrdfCollision(s) minor cleanup, reorganization * Fixing line coverage typo * Cleaning up Geometry tests, fixes to Collisions tests * Remove class member * add unit tests for UrdfJoint (#100) * BuiltInExtensions Tests (#103) * BuiltInExtensions Tests * Removed debug logs * PR feedback: internal BuiltIn class * Add unit tests for UrdfJoints (#102) * UrdfAssetPathHandler Tests (#104) * UrdfAssetPathHandler Tests * UrdfAssetPathHandler test cleanup * PR feedback * update version to 0.4.0 (#109) Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: LaurieCheers-unity <73140792+LaurieCheers-unity@users.noreply.github.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Hamid Younesy <hamid.younesy@unity3d.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> Co-authored-by: Hamid Younesy <hyounesy@users.noreply.github.com>
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‎.gitattributes‎

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* text=auto eol=lf
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# EOL
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*.py eol=lf
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*.pl eol=lf
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*.pm eol=lf
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Runtime/Export/common_* eol=lf
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Repositories.ini eol=lf
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.hgignore eol=lf
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# vs can handle these as lf, but really wants them as crlf
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*.vcproj eol=crlf
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*.vcxproj eol=crlf
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*.bat eol=crlf
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*.cmd eol=crlf
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*.xaml eol=crlf
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# the templating parser will actually fail on lf, inexplicably setting every #line directive as '1'
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*.tt eol=crlf
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*.t4 eol=crlf
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*.ttinclude eol=crlf
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# LFS
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# archives and well-known binary formats
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*.[zZ][iI][pP] filter=lfs diff=lfs merge=lfs -text
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*.[nN][uU][pP][kK][gG] filter=lfs diff=lfs merge=lfs -text
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*.[aA][rR][cC] filter=lfs diff=lfs merge=lfs -text
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# executables and libraries
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*.[aA] filter=lfs diff=lfs merge=lfs -text
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*.[oO] filter=lfs diff=lfs merge=lfs -text
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#*.[sS][oO] filter=lfs diff=lfs merge=lfs -text
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# specific binaries in the unity codebase
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‎.github/ISSUE_TEMPLATE/config.yml‎

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blank_issues_enabled: false
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contact_links:
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- name: Unity Robotics Forum
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url: https://forum.unity.com/forums/robotics.623/
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about: Discussions and questions about Unity Robotics tools, demos, or integrations.

‎.github/PULL_REQUEST_TEMPLATE.md‎

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## Checklist
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- [ ] Ensured this PR is up-to-date with the `dev` branch
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- [ ] Created this PR to target the `dev` branch
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- [ ] Followed the style guidelines as described in the [Contribution Guidelines](../CONTRIBUTING.md)
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- [ ] Followed the style guidelines as described in the [Contribution Guidelines](https://github.com/Unity-Technologies/URDF-Importer/blob/main/CONTRIBUTING.md)
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- [ ] Added tests that prove my fix is effective or that my feature works
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- [ ] Increased the [test coverage criteria](https://github.com/Unity-Technologies/URDF-Importer/blob/dev/.yamato/yamato-config.yml#L18) by 3%
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- [ ] Updated the [Changelog](https://github.com/Unity-Technologies/URDF-Importer/blob/dev/com.unity.robotics.urdf-importer/CHANGELOG.md) and described changes in the [Unreleased section](https://github.com/Unity-Technologies/URDF-Importer/blob/dev/com.unity.robotics.urdf-importer/CHANGELOG.md#unreleased)
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## Other comments

‎.yamato/yamato-config.yml‎

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- python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
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- unity-downloader-cli -u 2020.2.0b9 -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
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- git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
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- utr/utr --testproject=./TestUrdfImporter --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --enable-code-coverage --coverage-results-path=../test-results --coverage-options="assemblyFilters:+Unity.Robotics.URDFImporter,+Unity.Robotics.URDFImporter.Editor;generateHtmlReport;generateBadgeReport;generateAdditionalMetrics"
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# check test coverage
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- command: |
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linecoverage=$(cat test-results/Report/Summary.xml | grep Linecoverage | grep -Eo '[+-]?[0-9]+([.][0-9]+)?')
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echo "Line coverage: $linecoverage%"
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if (( $(echo "$linecoverage < 20" | bc -l) )); then exit 1; fi
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triggers:
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cancel_old_ci: true
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expression: |
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paths:

‎README.md‎

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3. Enter the git URL for the URDF Importer with the latest version tag (currently v0.4.0) `https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.4.0` in the text box and press `Enter`.
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## Support
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For questions or discussions about Unity Robotics package installations or how to best set up and integrate your robotics projects, please create a new thread on the [Unity Robotics forum](https://forum.unity.com/forums/robotics.623/) and make sure to include as much detail as possible.
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## License
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‎TestUrdfImporter/Packages/manifest.json‎

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‎TestUrdfImporter/Packages/packages-lock.json‎

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"com.unity.ext.nunit": "1.0.0",
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"com.unity.ext.nunit": "1.0.6",
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"com.unity.modules.imgui": "1.0.0",
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"com.unity.modules.jsonserialize": "1.0.0"
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},
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"url": "https://packages.unity.com"
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},
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"com.unity.testtools.codecoverage": {
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"version": "1.0.0",
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"depth": 0,
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"source": "registry",
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"dependencies": {
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"com.unity.test-framework": "1.0.16",
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"com.unity.settings-manager": "1.0.1"
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},
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"url": "https://packages.unity.com"
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},
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"com.unity.textmeshpro": {
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"version": "3.0.1",
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"depth": 0,

‎com.unity.robotics.urdf-importer/CHANGELOG.md‎

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# Changelog
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All notable changes to this repository will be documented in this file.
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The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
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## Unreleased
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### Upgrade Notes
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### Known Issues
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### Added
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### Changed
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### Deprecated
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### Removed
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### Fixed
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## [0.4.0-preview] - 2021-05-27
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Note: The logs below only presents the changes from 0.3.0-preview
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### Upgrade Notes
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Refactor the codebase and support for runtime URDF importing
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### Known Issues
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### Added
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Save the generated cylinder meshes to a new folder, `Assets/URDF/GeneratedMeshes`, as primitive cylinders will have no associated .stl filename/path
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Add a link to the Robotics forum, and add a config.yml to add a link in the Github Issues page
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Add unit tests and test coverage reporting
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### Changed
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### Deprecated
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### Removed
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### Fixed
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Correct collider rotation so that the collider meshes matches visual meshes for both Y-axis and Z-axis
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Replace "../" with the expected "package://" and throw more warnings if things still don't match up

‎com.unity.robotics.urdf-importer/CHANGELOG.md.meta‎

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Some generated files are not rendered by default. Learn more about customizing how changed files appear on GitHub.

‎com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfRobotEditor.cs‎

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}
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GUILayout.Space(5);
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if(GUILayout.Button("Compare URDF Files"))
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if (GUILayout.Button("Compare URDF Files"))
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{
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CompareURDF window = (CompareURDF)EditorWindow.GetWindow(typeof(CompareURDF));
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window.minSize = new Vector2(500, 200);
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EditorGUILayout.PrefixLabel(label);
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string buttonName = currentState ? "Disable" : "Enable";
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if (GUILayout.Button(buttonName, buttonStyle))
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{
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handler();
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}
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EditorGUILayout.EndHorizontal();
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}
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