support for runtime urdf importing #67

hyounesy · 2021-03-16T22:28:22Z

No description provided.

…iles

…f using the runtime import mode in editor.

…ration.

…r both the none-blocking coroutine and blocking function call.

…port functionality

peifeng-unity

I only finished 1/3 of the files and have some minor comments and questions.

com.unity.robotics.urdf-importer/Editor/MenuItems/CompareURDF.cs

com.unity.robotics.urdf-importer/Runtime/Controller/Controller.cs

com.unity.robotics.urdf-importer/Runtime/Extensions/MaterialExtensions.cs

com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfRobotExtensions.cs

peifeng-unity · 2021-03-31T20:38:30Z

com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfRobotExtensions.cs

+        // Post creation stuff: add to parent, fix axis and add collision exceptions.
+        private static void ImportPipelinePostCreate(ImportPipelineData im)
+        {
+#if UNITY_EDITOR


nit: a more general question that whether it would be better and more extensible to move split the code and move those in UNITY_EDITOR to the Editor directory?

valid point. However that will require breaking the UrdfRobotExtensions class into two separate and changing the interface.

I see. This can be revisited in another PR in the future. It still seems to me that the Editor and Runtime shared very little code. If the interface is the only thing that matters, can we delegate the classes or methods so that the interface will keep the same, and the delegator selects which class/method to use?

I may ask the same question somewhere else. Please ignore them.

com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfRobotExtensions.cs

com.unity.robotics.urdf-importer/Runtime/RuntimeImport/RuntimeURDFImporter.cs

vidurvij-Unity · 2021-03-31T22:04:47Z

com.unity.robotics.urdf-importer/Runtime/MeshProcessing/StlAssetPostProcessor.cs

-            foreach (string stlFile in importedAssets.Where(x => x.ToLowerInvariant().EndsWith(".stl")))
-                createStlPrefab(stlFile);
+#if UNITY_EDITOR
+            if (!RuntimeURDF.IsRuntimeMode())


Seen this in many places. Why do we need a check for runtime mode if we are in editor ?

a few reasons:

To be able to run and debug the run-time loading code also in editor.

The run-time import code can also be used in editor to load URDF files that are not in the Assets, so if we decide this is a useful feature, we just have to add a check in the import GUI to use the runtime mode when the selected URDF file is not in the Assets.

Possible future plan to make all loading use the run-time mode, to reduce the code maintenance overhead.

since checking the runtime mode happens in many places, would it be better to move this check to an earlier stage or a higher level so that it only needs to be checked once?

I am not sure if we can do it for this specific function: https://docs.unity3d.com/ScriptReference/AssetPostprocessor.OnPostprocessAllAssets.html

com.unity.robotics.urdf-importer/Runtime/Extensions/MaterialExtensions.cs

peifeng-unity · 2021-04-08T23:33:09Z

com.unity.robotics.urdf-importer/Runtime/Extensions/TransformExtensions.cs

+        /// <param name="parent"></param>
+        /// <param name="query"> query to test of the child game objects </param>
+        /// <returns>The first child of the game object that matches the query</returns>
+        public static Transform FirstChildByQuery(this Transform parent, Func<Transform, bool> query)


I remember that the URDF importer guarantees that the names of the objects are unique. Am I right? @vidurvij-Unity. If so, we won't need to find the object in a recursive way.

Yes, It does

com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfGeometryCollision.cs

com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfGeometryVisual.cs

peifeng-unity · 2021-04-08T23:53:06Z

com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfRobotExtensions.cs

+        // Post creation stuff: add to parent, fix axis and add collision exceptions.
+        private static void ImportPipelinePostCreate(ImportPipelineData im)
+        {
+#if UNITY_EDITOR


I see. This can be revisited in another PR in the future. It still seems to me that the Editor and Runtime shared very little code. If the interface is the only thing that matters, can we delegate the classes or methods so that the interface will keep the same, and the delegator selects which class/method to use?

I may ask the same question somewhere else. Please ignore them.

peifeng-unity · 2021-04-09T00:11:54Z

com.unity.robotics.urdf-importer/Runtime/MeshProcessing/StlWriter.cs

+
+namespace RosSharp.Urdf
+{
+    public class StlWriter


nit: I feel this script is more useful than just for URDF-importer. It is kind of related to Devin's question that whether we want to have a core package that the URDF-Importer can also depend on? It is not a question for this PR, but just a marker for the thought.

Agree, we can move it once the need arises and we have a core.

peifeng-unity · 2021-04-09T00:14:26Z

com.unity.robotics.urdf-importer/Runtime/RuntimeImport/RuntimeURDF.cs

+        runtimeModeEnabled = enabled;
+    }
+
+    public static T AssetDatabase_LoadAssetAtPath<T>(string fileAssetPath) where T : UnityEngine.Object 


I am not sure whether the naming of the methods obeys the coding best practice, but I cannot think of a better idea to name them. @mrpropellers

I agree. I wasn't too happy either, but I wanted to make it clear what the actual functions the wrappers present. We can easily rename them all later in a separate PR as they are all declared in a single file.

com.unity.robotics.urdf-importer/Runtime/RuntimeImport/RuntimeURDFImporter.cs

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

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

* 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>

* 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>

* 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> 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>

* 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>

hyounesy added 23 commits February 22, 2021 17:09

moved "NeedsRuntimeConversion" to Runtime and adjusted namespace

82ec792

moved MeshProcessing and AssetHandler to Runtime

29019ad

move all editor only calls to RuntimeURDF.cs

50b705c

fixed compile issues: builds in runtime, but does nothing

eb1ec6f

URDF can now be imported in runtime (STL only)

04cb42b

Merge dev into hamid/runtime-urdf-importer

b62d66a

cleanup: moved files into corresponding runtime directories.

9f95491

Added UnityMeshImporter and AssimpNet plugin

d650d8d

Loading collada files in runtime (using AssimpNet plugin).

5bf2a8d

Proper creation of materials for HDRP/Standard when loading collada f…

278cb22

…iles

Merge dev into hamid/runtime-urdf-importer

01b51ca

disable Assimpnet for IL2CPP builds

8f3b0f5

added parameter to URDFRobotExtensions.Create() to allow the option o…

60e5954

…f using the runtime import mode in editor.

cleaning up material extensions

1338f2b

disable controller component during import to avoid incorrect configu…

c2a51c1

…ration.

fix for the default diffuse material in HDRP

639c6f9

minor clean up and code convention fixes

e4eed47

added support for .obj visual meshes

79dd3ee

don't enable the controller automatically in runtime mode.

9098039

Merge dev into hamid/runtime-urdf-importer

695cb88

variable name typo fix

34151b5

Broke the Create() function into pipeline stages to reuse the code fo…

3191b9e

…r both the none-blocking coroutine and blocking function call.

Added RuntimeURDFImporter component as an example usage of runtime im…

3259f2f

…port functionality

hyounesy requested review from mpinol and vidurvij-Unity March 16, 2021 22:28

fix the bug with editor dialogs

7788514

peifeng-unity self-requested a review March 29, 2021 18:58

peifeng-unity reviewed Mar 31, 2021

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vidurvij-Unity reviewed Mar 31, 2021

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com.unity.robotics.urdf-importer/Runtime/RuntimeImport/RuntimeURDFImporter.cs Outdated Show resolved Hide resolved

vidurvij-Unity reviewed Mar 31, 2021

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hyounesy added 4 commits April 1, 2021 11:23

random code formatting fixes

107bcee

Merge dev into hamid/runtime-urdf-importer

3b9152f

Moved and renamed the Transform extension function FindChildByQuery

1f0c2fb

fixed materials for URP projects.

b9aabfc

peifeng-unity reviewed Apr 9, 2021

View reviewed changes

hyounesy requested review from vidurvij-Unity and peifeng-unity April 13, 2021 19:13

hyounesy and others added 4 commits April 13, 2021 12:28

removed unused code.

f1d35c9

minor code formatting

0a6d8fe

removed unused code

3a418de

URDF imported objects lose mesh colliders when made into prefabs (#72)

09d713f

* 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>

vidurvij-Unity previously approved these changes Apr 14, 2021

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removing lfs as causes issues with the plugin dlls

f04ddd7

hyounesy dismissed vidurvij-Unity’s stale review via f04ddd7 April 15, 2021 20:40

hyounesy added 4 commits April 15, 2021 13:48

deleting plugin to add it back without lfs

6339498

adding back AssimpNet libraries without lfs

31ffedd

deleting vhacd library to add it back without lfs

feee677

adding back VHACD libraries without lfs

2bafc5d

hyounesy requested a review from vidurvij-Unity April 16, 2021 02:07

hyounesy changed the title ~~Hamid/runtime urdf importer~~ support for runtime urdf importing Apr 20, 2021

Fixed the overexposed highlight color

05870e7

peifeng-unity approved these changes Apr 21, 2021

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hyounesy merged commit a0fec67 into dev Apr 22, 2021

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support for runtime urdf importing #67

support for runtime urdf importing #67

hyounesy commented Mar 16, 2021

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peifeng-unity Mar 31, 2021

hyounesy Apr 1, 2021

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vidurvij-Unity Mar 31, 2021

hyounesy Apr 1, 2021

peifeng-unity Apr 9, 2021

hyounesy Apr 13, 2021

peifeng-unity Apr 8, 2021

vidurvij-Unity Apr 14, 2021

peifeng-unity Apr 8, 2021

peifeng-unity Apr 9, 2021

hyounesy Apr 13, 2021

peifeng-unity Apr 9, 2021

hyounesy Apr 13, 2021

support for runtime urdf importing #67

support for runtime urdf importing #67

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hyounesy commented Mar 16, 2021

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