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: mpinol <mpinol@users.noreply.github.com>
Co-authored-by: Christopher Joseph <cjoseph@virtanatech.com>
Co-authored-by: Christopher Joseph <38385529+chris15joseph@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: Hamid Younesy <hamid.younesy@unity3d.com>
Co-authored-by: Amanda <31416491+at669@users.noreply.github.com>

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,37 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Console logs / stack traces**
+Please wrap in [triple backticks (```)](https://help.github.com/en/articles/creating-and-highlighting-code-blocks) to make it easier to read.
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots or videos to help explain your problem.
+
+**Environment (please complete the following information, where applicable):**
+- Unity Version: [e.g. Unity 2020.2.0f1]
+- Unity machine OS + version: [e.g. Windows 10]
+- ROS machine OS + version: [e.g. Ubuntu 18.04, ROS Noetic]
+- ROS–Unity communication: [e.g. Docker]
+- Branch or version: [e.g. v0.2.0]
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,34 @@
+## Proposed change(s)
+
+Describe the changes made in this PR.
+
+### Useful links (GitHub issues, JIRA tickets, forum threads, etc.)
+
+Provide any relevant links here.
+
+### Types of change(s)
+
+- [ ] Bug fix
+- [ ] New feature
+- [ ] Code refactor
+- [ ] Documentation update
+- [ ] Other (please describe)
+
+## Testing and Verification
+
+Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment. 
+
+### Test Configuration:
+- Unity Version: [e.g. Unity 2020.2.0f1]
+- Unity machine OS + version: [e.g. Windows 10]
+- ROS machine OS + version: [e.g. Ubuntu 18.04, ROS Noetic]
+- ROS–Unity communication: [e.g. Docker]
+
+## Checklist
+- [ ] Ensured this PR is up-to-date with the `dev` branch
+- [ ] Created this PR to target the `dev` branch
+- [ ] Followed the style guidelines as described in the [Contribution Guidelines](../CONTRIBUTING.md)
+- [ ] Added tests that prove my fix is effective or that my feature works
+- [ ] Updated the documentation as appropriate
+
+## Other comments

CODE_OF_CONDUCT.md

@@ -0,0 +1,74 @@
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+In the interest of fostering an open and welcoming environment, we as
+contributors and maintainers pledge to making participation in our project and
+our community a harassment-free experience for everyone, regardless of age, body
+size, disability, ethnicity, gender identity and expression, level of experience,
+nationality, personal appearance, race, religion, or sexual identity and
+orientation.
+
+## Our Standards
+
+Examples of behavior that contributes to creating a positive environment
+include:
+
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members
+
+Examples of unacceptable behavior by participants include:
+
+* The use of sexualized language or imagery and unwelcome sexual attention or
+  advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or electronic
+  address, without explicit permission
+* Other conduct which could reasonably be considered inappropriate in a
+  professional setting
+
+## Our Responsibilities
+
+Project maintainers are responsible for clarifying the standards of acceptable
+behavior and are expected to take appropriate and fair corrective action in
+response to any instances of unacceptable behavior.
+
+Project maintainers have the right and responsibility to remove, edit, or
+reject comments, commits, code, wiki edits, issues, and other contributions
+that are not aligned to this Code of Conduct, or to ban temporarily or
+permanently any contributor for other behaviors that they deem inappropriate,
+threatening, offensive, or harmful.
+
+## Scope
+
+This Code of Conduct applies both within project spaces and in public spaces
+when an individual is representing the project or its community. Examples of
+representing a project or community include using an official project e-mail
+address, posting via an official social media account, or acting as an appointed
+representative at an online or offline event. Representation of a project may be
+further defined and clarified by project maintainers.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be
+reported by contacting the project team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com). All
+complaints will be reviewed and investigated and will result in a response that
+is deemed necessary and appropriate to the circumstances. The project team is
+obligated to maintain confidentiality with regard to the reporter of an incident.
+Further details of specific enforcement policies may be posted separately.
+
+Project maintainers who do not follow or enforce the Code of Conduct in good
+faith may face temporary or permanent repercussions as determined by other
+members of the project's leadership.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage],
+version 1.4, available at
+https://www.contributor-covenant.org/version/1/4/code-of-conduct/
+
+[homepage]: https://www.contributor-covenant.org

CONTRIBUTING.md

@@ -0,0 +1,64 @@
+# Contribution Guidelines
+
+Thank you for your interest in contributing to Unity Robotics! To facilitate your 
+contributions, we've outlined a brief set of guidelines to ensure that your extensions 
+can be easily integrated.
+
+## Communication
+
+First, please read through our
+[code of conduct](CODE_OF_CONDUCT.md),
+as we expect all our contributors to follow it.
+
+Second, before starting on a project that you intend to contribute to any of our
+Unity Robotics packages or tutorials, we **strongly** recommend posting on the repository's
+[Issues page](https://github.com/Unity-Technologies/URDF-Importer/issues) and
+briefly outlining the changes you plan to make. This will enable us to provide
+some context that may be helpful for you. This could range from advice and
+feedback on how to optimally perform your changes or reasons for not doing it.
+
+## Git Branches
+
+The `main` branch corresponds to the most recent stable version of the project. The `dev` branch
+contains changes that are staged to be merged into `main` as the team sees fit.
+
+When contributing to the project, please make sure that your Pull Request (PR)
+does the following:
+
+- Is up-to-date with and targets the `dev` branch
+- Contains a detailed description of the changes performed
+- Has corresponding changes to documentation, unit tests and sample environments (if
+  applicable)
+- Contains a summary of the tests performed to validate your changes
+- Links to issue numbers that the PR resolves (if any)
+
+<!-- ## Continuous Integration (CI)
+
+We run continuous integration on all PRs; all tests must be passing before the PR is merged. -->
+
+## Code style
+
+All Python code should follow the [PEP 8 style guidelines](https://pep8.org/).
+
+All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions). 
+Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html) 
+can be used to format, encode, and lint your code according to the standard Unity 
+development conventions. Be aware that these Unity conventions will supersede the 
+Microsoft C# Coding Conventions where applicable.
+
+Please note that even if the code you are changing does not adhere to these guidelines,
+we expect your submissions to follow these conventions.
+
+## Contributor License Agreements
+
+When you open a pull request, you will be asked to acknowledge our Contributor
+License Agreement. We allow both individual contributions and contributions made
+on behalf of companies. We use an open source tool called CLA assistant. If you
+have any questions on our CLA, please
+[submit an issue](https://github.com/Unity-Technologies/URDF-Importer/issues) or
+email us at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
+
+## Contribution review
+
+Once you have a change ready following the above ground rules, simply make a 
+pull request in GitHub.

LICENSE

@@ -174,3 +174,17 @@
       of your accepting any such warranty or additional liability.
 
    END OF TERMS AND CONDITIONS
+
+   Copyright 2020 Unity Technologies
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

README.md

@@ -1,5 +1,7 @@
 # URDF Importer 
 
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+
 URDF Importer allows you to import a robot defined in [URDF](http://wiki.ros.org/urdf/XML) format in a Unity scene. URDF defines the geometry, visual meshes, kinematic and dynamic attributes of a Robot. Importer parses a URDF file and imports it into Unity using PhyX 4.0 articulation bodies.
 
 # Using the Package
@@ -12,7 +14,7 @@ URDF Importer allows you to import a robot defined in [URDF](http://wiki.ros.org
 
 <img src = "images~/Package_manager_add.png">
 
-3. Enter the git URL for the URDF Importer with the latest version tag (currently v0.1.2) `https://github.com/Unity-Technologies/URDF-Importer.git#v0.1.2` in the text box and press `Enter`. 
+3. Enter the git URL for the URDF Importer with the latest version tag (currently v0.3.0) `https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.3.0` in the text box and press `Enter`.
 
 4. Click `Import URDF`.
 
@@ -33,11 +35,26 @@ URDF Importer allows you to import a robot defined in [URDF](http://wiki.ros.org
 
 # Tutorials
 
-Instructions for using URDF importer can be found [here](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/master/tutorials/urdf_importer/urdf_tutorial.md).
-
+Instructions for using URDF importer can be found [here](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/urdf_importer/urdf_tutorial.md).
 
 ## ROS#
 
 Special thanks to the Siemens [ROS# Project Team]( https://github.com/siemens/ros-sharp/wiki/Info_Acknowledgements) for driving the ROS-Unity Integration Open Source since 2017.
 
-This repo is a fork of [ROS#](https://github.com/siemens/ros-sharp) and was a great starting point for our development.
+This repo is a fork of [ROS#](https://github.com/siemens/ros-sharp) and was a great starting point for our development.
+
+## Community and Feedback
+
+The Unity Robotics projects are open-source and we encourage and welcome contributions. 
+If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md) 
+and [code of conduct](CODE_OF_CONDUCT.md).
+
+## Support
+For general questions, feedback, or feature requests, connect directly with the 
+Robotics team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
+
+For bugs or other issues, please file a GitHub issue and the Robotics team will 
+investigate the issue as soon as possible.
+
+## License
+[Apache License 2.0](LICENSE)

com.unity.robotics.urdf-importer/Editor/NeedsRuntimeConversion/Extensions/UrdfRobotExtensions.cs

@@ -47,12 +47,11 @@ public static void Create()
 
         #region Import
 
-        public static IEnumerator Create(string filename, ImportSettings settings, bool loadStatus = false)
+        public static IEnumerator<GameObject> Create(string filename, ImportSettings settings, bool loadStatus = false)
         {
             CreateTag();
             importsettings = settings;
             Robot robot = new Robot(filename);
-
             settings.totalLinks = robot.links.Count;
 
             if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename))
@@ -98,6 +97,8 @@ public static IEnumerator Create(string filename, ImportSettings settings, bool
 
             CorrectAxis(robotGameObject);
             CreateCollisionExceptions(robot, robotGameObject);
+
+            yield return robotGameObject;
         }
 
         public static void CorrectAxis(GameObject robot)

com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfInertial.cs

@@ -34,6 +34,7 @@ public class UrdfInertial : MonoBehaviour
 
         private const int RoundDigits = 10;
         private const float MinInertia = 1e-6f;
+        private const float minMass = 0.1f;
 
         public static void Create(GameObject linkObject, Link.Inertial inertial = null)
         {
@@ -46,7 +47,7 @@ public static void Create(GameObject linkObject, Link.Inertial inertial = null)
 #endif
             if (inertial != null)
             {
-                robotLink.mass = (float)inertial.mass;
+                robotLink.mass = ((float)inertial.mass > 0)?((float)inertial.mass):minMass;
                 if (inertial.origin != null) {
 
                     robotLink.centerOfMass = UrdfOrigin.GetPositionFromUrdf(inertial.origin);

com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJoint.cs

@@ -52,6 +52,9 @@ public enum JointTypes
         protected const int RoundDigits = 6;
         protected const float Tolerance = 0.0000001f;
 
+        protected int defaultDamping = 0;
+        protected int defaultFriction = 0;
+
         public static void Create(GameObject linkObject, JointTypes jointType, Joint joint = null)
         { 
             #if UNITY_2020_1_OR_NEWER 

com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointContinuous.cs

@@ -101,8 +101,8 @@ protected override void ImportJointData(Joint joint)
 
             if (joint.dynamics != null)
             {
-                unityJoint.angularDamping = (float)joint.dynamics.damping; 
-                unityJoint.jointFriction = (float)joint.dynamics.friction;
+                unityJoint.angularDamping = (double.IsNaN(joint.dynamics.damping)) ? defaultDamping : (float)joint.dynamics.damping;
+                unityJoint.jointFriction = (double.IsNaN(joint.dynamics.friction)) ? defaultFriction : (float)joint.dynamics.friction;
             }
             else
             {

com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointFixed.cs

@@ -24,7 +24,7 @@ public static UrdfJoint Create(GameObject linkObject)
         {
             UrdfJointFixed urdfJoint = linkObject.AddComponent<UrdfJointFixed>();
             #if UNITY_2020_1_OR_NEWER
-                urdfJoint.unityJoint = linkObject.AddComponent<ArticulationBody>();
+                urdfJoint.unityJoint = linkObject.GetComponent<ArticulationBody>();
             #else
                         urdfJoint.UnityJoint = linkObject.AddComponent<FixedJoint>();
                         urdfJoint.UnityJoint.autoConfigureConnectedAnchor = true;