├── .gitattributes ├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.md │ ├── config.yml │ └── feature_request.md ├── PULL_REQUEST_TEMPLATE.md └── workflows │ ├── jira-link.yaml │ └── stale.yaml ├── .gitignore ├── .yamato ├── sonar.yml └── yamato-config.yml ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── InfoAcknowledgements.md ├── LICENSE ├── README.md ├── TestUrdfImporter ├── .gitignore ├── Assets │ ├── Materials.meta │ ├── Materials │ │ ├── Skybox_Mat.mat │ │ └── Skybox_Mat.mat.meta │ ├── Presets.meta │ ├── Presets │ │ ├── AudioCompressedInMemory.preset │ │ ├── AudioCompressedInMemory.preset.meta │ │ ├── AudioStreaming.preset │ │ ├── AudioStreaming.preset.meta │ │ ├── Defaults.meta │ │ ├── Defaults │ │ │ ├── AlbedoTexture_Default.preset │ │ │ ├── AlbedoTexture_Default.preset.meta │ │ │ ├── AudioDecompressOnLoad.preset │ │ │ ├── AudioDecompressOnLoad.preset.meta │ │ │ ├── DirectionalLight_Default.preset │ │ │ └── DirectionalLight_Default.preset.meta │ │ ├── NormalTexture.preset │ │ ├── NormalTexture.preset.meta │ │ ├── UtilityTexture.preset │ │ └── UtilityTexture.preset.meta │ ├── Readme.asset │ ├── Readme.asset.meta │ ├── Scenes.meta │ ├── Scenes │ │ ├── SampleScene.unity │ │ ├── SampleScene.unity.meta │ │ ├── SampleSceneLightingSettings.lighting │ │ └── SampleSceneLightingSettings.lighting.meta │ ├── Settings.meta │ ├── Settings │ │ ├── ForwardRenderer.asset │ │ ├── ForwardRenderer.asset.meta │ │ ├── SampleSceneProfile.asset │ │ ├── SampleSceneProfile.asset.meta │ │ ├── UniversalRP-HighQuality.asset │ │ ├── UniversalRP-HighQuality.asset.meta │ │ ├── UniversalRP-LowQuality.asset │ │ ├── UniversalRP-LowQuality.asset.meta │ │ ├── UniversalRP-MediumQuality.asset │ │ └── UniversalRP-MediumQuality.asset.meta │ ├── Test URDF export.meta │ ├── fetch_description.meta │ ├── fetch_description │ │ └── robots.meta │ ├── franka_panda_description-master.meta │ ├── turtlebot3.meta │ ├── turtlebot3 │ │ └── turtlebot3_description.meta │ ├── ur3_with_gripper.meta │ ├── ur3_with_gripper │ │ ├── ur_description.meta │ │ └── ur_description │ │ │ └── meshes.meta │ └── urdf.meta ├── Packages │ ├── manifest.json │ └── packages-lock.json └── ProjectSettings │ ├── AudioManager.asset │ ├── ClusterInputManager.asset │ ├── DynamicsManager.asset │ ├── EditorBuildSettings.asset │ ├── EditorSettings.asset │ ├── GraphicsSettings.asset │ ├── InputManager.asset │ ├── NavMeshAreas.asset │ ├── PackageManagerSettings.asset │ ├── Physics2DSettings.asset │ ├── PresetManager.asset │ ├── ProjectSettings.asset │ ├── ProjectVersion.txt │ ├── QualitySettings.asset │ ├── TagManager.asset │ ├── TimeManager.asset │ ├── URPProjectSettings.asset │ ├── UnityConnectSettings.asset │ ├── VFXManager.asset │ ├── VersionControlSettings.asset │ └── XRSettings.asset ├── Third Party Notices.md ├── com.unity.robotics.urdf-importer ├── CHANGELOG.md ├── CHANGELOG.md.meta ├── Editor.meta ├── Editor │ ├── CustomEditors.meta │ ├── CustomEditors │ │ ├── HingeJointLimitsManagerEditor.cs │ │ ├── HingeJointLimitsManagerEditor.cs.meta │ │ ├── InspectorReadOnlyAttributeDrawer.cs │ │ ├── InspectorReadOnlyAttributeDrawer.cs.meta │ │ ├── UrdfCollisionEditor.cs │ │ ├── UrdfCollisionEditor.cs.meta │ │ ├── UrdfCollisionsEditor.cs │ │ ├── UrdfCollisionsEditor.cs.meta │ │ ├── UrdfFkrobotEditor.cs │ │ ├── UrdfFkrobotEditor.cs.meta │ │ ├── UrdfInertialEditor.cs │ │ ├── UrdfInertialEditor.cs.meta │ │ ├── UrdfJointEditor.cs │ │ ├── UrdfJointEditor.cs.meta │ │ ├── UrdfLinkEditor.cs │ │ ├── UrdfLinkEditor.cs.meta │ │ ├── UrdfPluginsEditor.cs │ │ ├── UrdfPluginsEditor.cs.meta │ │ ├── UrdfRobotEditor.cs │ │ ├── UrdfRobotEditor.cs.meta │ │ ├── UrdfVisualEditor.cs │ │ ├── UrdfVisualEditor.cs.meta │ │ ├── UrdfVisualsEditor.cs │ │ └── UrdfVisualsEditor.cs.meta │ ├── MenuItems.meta │ ├── MenuItems │ │ ├── AddDhParameterWindow.cs │ │ ├── AddDhParameterWindow.cs.meta │ │ ├── CompareUrdf.cs │ │ ├── CompareUrdf.cs.meta │ │ ├── FileImportMenu.cs │ │ ├── FileImportMenu.cs.meta │ │ ├── UrdfExportEditorWindow.cs │ │ ├── UrdfExportEditorWindow.cs.meta │ │ ├── UrdfImporterContextMenuItem.cs │ │ ├── UrdfImporterContextMenuItem.cs.meta │ │ ├── UrdfImporterMenuItem.cs │ │ ├── UrdfImporterMenuItem.cs.meta │ │ ├── UrdfRobotCreatorMenuItem.cs │ │ └── UrdfRobotCreatorMenuItem.cs.meta │ ├── Unity.Robotics.URDFImporter.Editor.asmdef │ └── Unity.Robotics.URDFImporter.Editor.asmdef.meta ├── Runtime.meta ├── Runtime │ ├── AssemblyInfo.cs │ ├── AssemblyInfo.cs.meta │ ├── AssetHandlers.meta │ ├── AssetHandlers │ │ ├── LocateAssetHandler.cs │ │ ├── LocateAssetHandler.cs.meta │ │ ├── UrdfAssetPathHandler.cs │ │ ├── UrdfAssetPathHandler.cs.meta │ │ ├── UrdfExportPathHandler.cs │ │ ├── UrdfExportPathHandler.cs.meta │ │ ├── UrdfMeshExportHandler.cs │ │ └── UrdfMeshExportHandler.cs.meta │ ├── Controller.meta │ ├── Controller │ │ ├── Controller.cs │ │ ├── Controller.cs.meta │ │ ├── FKRobot.cs │ │ ├── FKRobot.cs.meta │ │ ├── IKRobot.cs │ │ ├── IKRobot.cs.meta │ │ ├── JointControl.cs │ │ └── JointControl.cs.meta │ ├── Extensions.meta │ ├── Extensions │ │ ├── BuiltInExtensions.cs │ │ ├── BuiltInExtensions.cs.meta │ │ ├── MaterialExtensions.cs │ │ ├── MaterialExtensions.cs.meta │ │ ├── UrdfCollisionExtensions.cs │ │ ├── UrdfCollisionExtensions.cs.meta │ │ ├── UrdfCollisionsExtensions.cs │ │ ├── UrdfCollisionsExtensions.cs.meta │ │ ├── UrdfGeometry.cs │ │ ├── UrdfGeometry.cs.meta │ │ ├── UrdfGeometryCollision.cs │ │ ├── UrdfGeometryCollision.cs.meta │ │ ├── UrdfGeometryVisual.cs │ │ ├── UrdfGeometryVisual.cs.meta │ │ ├── UrdfLinkExtensions.cs │ │ ├── UrdfLinkExtensions.cs.meta │ │ ├── UrdfMaterial.cs │ │ ├── UrdfMaterial.cs.meta │ │ ├── UrdfRobotExtensions.cs │ │ ├── UrdfRobotExtensions.cs.meta │ │ ├── UrdfVisualExtensions.cs │ │ ├── UrdfVisualExtensions.cs.meta │ │ ├── UrdfVisualsExtensions.cs │ │ └── UrdfVisualsExtensions.cs.meta │ ├── JointLimitsManagers.meta │ ├── JointLimitsManagers │ │ ├── HingeJointLimitsManager.cs │ │ ├── HingeJointLimitsManager.cs.meta │ │ ├── PrismaticJointLimitsManager.cs │ │ └── PrismaticJointLimitsManager.cs.meta │ ├── Math.meta │ ├── Math │ │ ├── Matrix3x3.cs │ │ └── Matrix3x3.cs.meta │ ├── MeshProcessing.meta │ ├── MeshProcessing │ │ ├── ColladaAssetPostProcessor.cs │ │ ├── ColladaAssetPostProcessor.cs.meta │ │ ├── StlAssetPostProcessor.cs │ │ ├── StlAssetPostProcessor.cs.meta │ │ ├── StlExporter.cs │ │ ├── StlExporter.cs.meta │ │ ├── StlImporter.cs │ │ ├── StlImporter.cs.meta │ │ ├── StlReader.cs │ │ ├── StlReader.cs.meta │ │ ├── StlWriter.cs │ │ └── StlWriter.cs.meta │ ├── Properties.meta │ ├── Properties │ │ ├── AssemblyInfo.cs │ │ ├── AssemblyInfo.cs.meta │ │ ├── InspectorReadOnlyAttribute.cs │ │ └── InspectorReadOnlyAttribute.cs.meta │ ├── RosSharpDefinitions.meta │ ├── RosSharpDefinitions │ │ ├── Joint.cs │ │ ├── Joint.cs.meta │ │ ├── Link.cs │ │ ├── Link.cs.meta │ │ ├── Origin.cs │ │ ├── Origin.cs.meta │ │ ├── Plugin.cs │ │ ├── Plugin.cs.meta │ │ ├── Robot.cs │ │ ├── Robot.cs.meta │ │ ├── XAttributeExtensions.cs │ │ └── XAttributeExtensions.cs.meta │ ├── RuntimeImport.meta │ ├── RuntimeImport │ │ ├── RuntimeUrdf.cs │ │ ├── RuntimeUrdf.cs.meta │ │ ├── RuntimeUrdfImporterExample.cs │ │ └── RuntimeUrdfImporterExample.cs.meta │ ├── Unity.Robotics.URDFImporter.asmdef │ ├── Unity.Robotics.URDFImporter.asmdef.meta │ ├── UnityMeshImporter.meta │ ├── UnityMeshImporter │ │ ├── CHANGELOG.md │ │ ├── CHANGELOG.md.meta │ │ ├── LICENSE.md │ │ ├── LICENSE.md.meta │ │ ├── MeshImporter.cs │ │ ├── MeshImporter.cs.meta │ │ ├── Plugins.meta │ │ ├── Plugins │ │ │ ├── AssimpNet.meta │ │ │ └── AssimpNet │ │ │ │ ├── AssimpNet.dll │ │ │ │ ├── AssimpNet.dll.meta │ │ │ │ ├── AssimpNet.xml │ │ │ │ ├── AssimpNet.xml.meta │ │ │ │ ├── AssimpUnity.cs │ │ │ │ ├── AssimpUnity.cs.meta │ │ │ │ ├── License_AssimpNet.txt │ │ │ │ ├── License_AssimpNet.txt.meta │ │ │ │ ├── Native.meta │ │ │ │ └── Native │ │ │ │ ├── linux.meta │ │ │ │ ├── linux │ │ │ │ ├── x86_64.meta │ │ │ │ └── x86_64 │ │ │ │ │ ├── libassimp.so │ │ │ │ │ └── libassimp.so.meta │ │ │ │ ├── osx.meta │ │ │ │ ├── osx │ │ │ │ ├── x86_64.meta │ │ │ │ └── x86_64 │ │ │ │ │ ├── libassimp.bundle │ │ │ │ │ └── libassimp.bundle.meta │ │ │ │ ├── win.meta │ │ │ │ └── win │ │ │ │ ├── x86.meta │ │ │ │ ├── x86 │ │ │ │ ├── assimp.dll │ │ │ │ └── assimp.dll.meta │ │ │ │ ├── x86_64.meta │ │ │ │ └── x86_64 │ │ │ │ ├── assimp.dll │ │ │ │ └── assimp.dll.meta │ │ ├── README.md │ │ └── README.md.meta │ ├── UrdfComponents.meta │ ├── UrdfComponents │ │ ├── CollisionIgnore.cs │ │ ├── CollisionIgnore.cs.meta │ │ ├── ImportSettings.cs │ │ ├── ImportSettings.cs.meta │ │ ├── UrdfCollision.cs │ │ ├── UrdfCollision.cs.meta │ │ ├── UrdfCollisions.cs │ │ ├── UrdfCollisions.cs.meta │ │ ├── UrdfComparator.cs │ │ ├── UrdfComparator.cs.meta │ │ ├── UrdfInertial.cs │ │ ├── UrdfInertial.cs.meta │ │ ├── UrdfJoints.meta │ │ ├── UrdfJoints │ │ │ ├── UrdfJoint.cs │ │ │ ├── UrdfJoint.cs.meta │ │ │ ├── UrdfJointContinuous.cs │ │ │ ├── UrdfJointContinuous.cs.meta │ │ │ ├── UrdfJointFixed.cs │ │ │ ├── UrdfJointFixed.cs.meta │ │ │ ├── UrdfJointFloating.cs │ │ │ ├── UrdfJointFloating.cs.meta │ │ │ ├── UrdfJointPlanar.cs │ │ │ ├── UrdfJointPlanar.cs.meta │ │ │ ├── UrdfJointPrismatic.cs │ │ │ ├── UrdfJointPrismatic.cs.meta │ │ │ ├── UrdfJointRevolute.cs │ │ │ └── UrdfJointRevolute.cs.meta │ │ ├── UrdfLink.cs │ │ ├── UrdfLink.cs.meta │ │ ├── UrdfOrigin.cs │ │ ├── UrdfOrigin.cs.meta │ │ ├── UrdfPlugin.cs │ │ ├── UrdfPlugin.cs.meta │ │ ├── UrdfPlugins.cs │ │ ├── UrdfPlugins.cs.meta │ │ ├── UrdfRobot.cs │ │ ├── UrdfRobot.cs.meta │ │ ├── UrdfVisual.cs │ │ ├── UrdfVisual.cs.meta │ │ ├── UrdfVisuals.cs │ │ └── UrdfVisuals.cs.meta │ ├── VHACD.meta │ └── VHACD │ │ ├── .editorconfig │ │ ├── .gitignore │ │ ├── LICENSE.MD │ │ ├── LICENSE.MD.meta │ │ ├── README.md │ │ ├── README.md.meta │ │ ├── VHACD.cs │ │ ├── VHACD.cs.meta │ │ ├── liblibvhacd.dylib │ │ ├── liblibvhacd.dylib.meta │ │ ├── liblibvhacd.so │ │ ├── liblibvhacd.so.meta │ │ ├── libvhacd.dll │ │ ├── libvhacd.dll.meta │ │ ├── vhacd.asmdef │ │ └── vhacd.asmdef.meta ├── Tests.meta ├── Tests │ ├── Editor.meta │ ├── Editor │ │ ├── PlayerBuildTests.cs │ │ ├── PlayerBuildTests.cs.meta │ │ ├── Unity.Robotics.URDFImporter.Editor.Tests.asmdef │ │ └── Unity.Robotics.URDFImporter.Editor.Tests.asmdef.meta │ ├── Runtime.meta │ └── Runtime │ │ ├── AssetHandlers.meta │ │ ├── AssetHandlers │ │ ├── UrdfAssetPathHandlerTests.cs │ │ └── UrdfAssetPathHandlerTests.cs.meta │ │ ├── Assets.meta │ │ ├── Assets │ │ ├── URDF.meta │ │ └── URDF │ │ │ ├── cube.meta │ │ │ └── cube │ │ │ ├── cube.urdf │ │ │ ├── cube.urdf.meta │ │ │ ├── meshes.meta │ │ │ └── meshes │ │ │ ├── cube.prefab │ │ │ ├── cube.prefab.meta │ │ │ ├── cube.stl │ │ │ ├── cube.stl.meta │ │ │ ├── cube_0.asset │ │ │ └── cube_0.asset.meta │ │ ├── Extensions.meta │ │ ├── Extensions │ │ ├── BuiltInExtensionsTests.cs │ │ ├── BuiltInExtensionsTests.cs.meta │ │ ├── UrdfCollisionExtensionsTests.cs │ │ ├── UrdfCollisionExtensionsTests.cs.meta │ │ ├── UrdfCollisionsExtensionsTests.cs │ │ ├── UrdfCollisionsExtensionsTests.cs.meta │ │ ├── UrdfGeometryCollisionTests.cs │ │ ├── UrdfGeometryCollisionTests.cs.meta │ │ ├── UrdfGeometryTests.cs │ │ ├── UrdfGeometryTests.cs.meta │ │ ├── UrdfRobotExtensionsTests.cs │ │ └── UrdfRobotExtensionsTests.cs.meta │ │ ├── Math.meta │ │ ├── Math │ │ ├── Matrix3x3Tests.cs │ │ └── Matrix3x3Tests.cs.meta │ │ ├── MeshProcessing.meta │ │ ├── MeshProcessing │ │ ├── StlAssetPostProcessorTests.cs │ │ └── StlAssetPostProcessorTests.cs.meta │ │ ├── RuntimeImport.meta │ │ ├── RuntimeImport │ │ ├── RuntimeUrdfTests.cs │ │ └── RuntimeUrdfTests.cs.meta │ │ ├── SmokeTests.cs │ │ ├── SmokeTests.cs.meta │ │ ├── Unity.Robotics.UrdfImporter.Runtime.Tests.asmdef │ │ ├── Unity.Robotics.UrdfImporter.Runtime.Tests.asmdef.meta │ │ ├── UrdfComponents.meta │ │ ├── UrdfComponents │ │ ├── UrdfJoints.meta │ │ └── UrdfJoints │ │ │ ├── UrdfJointContinuousTests.cs │ │ │ ├── UrdfJointContinuousTests.cs.meta │ │ │ ├── UrdfJointPlanarTests.cs │ │ │ ├── UrdfJointPlanarTests.cs.meta │ │ │ ├── UrdfJointPrismaticTests.cs │ │ │ ├── UrdfJointPrismaticTests.cs.meta │ │ │ ├── UrdfJointRevoluteTests.cs │ │ │ ├── UrdfJointRevoluteTests.cs.meta │ │ │ ├── UrdfJointTests.cs │ │ │ └── UrdfJointTests.cs.meta │ │ ├── VHACD.meta │ │ └── VHACD │ │ ├── VHACDTests.cs │ │ └── VHACDTests.cs.meta ├── package.json └── package.json.meta └── images~ ├── Package_manager_add.png ├── URDF Import Menu.png └── URDF Menu.png /.gitattributes: -------------------------------------------------------------------------------- 1 | * text=auto eol=lf 2 | # EOL 3 | *.py eol=lf 4 | *.pl eol=lf 5 | *.pm eol=lf 6 | *.t eol=lf 7 | *.it eol=lf 8 | *.h eol=lf 9 | *.cpp eol=lf 10 | *.cs eol=lf 11 | *.c eol=lf 12 | *.txt eol=lf 13 | *.bindings eol=lf 14 | *.sh eol=lf 15 | *.jam eol=lf 16 | *.as eol=lf 17 | *.boo eol=lf 18 | *.java eol=lf 19 | *.js eol=lf 20 | Makefile eol=lf 21 | *.shader eol=lf 22 | *.cginc eol=lf 23 | *.glslinc eol=lf 24 | *.meta eol=lf 25 | *.mm eol=lf 26 | *.md eol=lf 27 | Runtime/Export/common_* eol=lf 28 | Repositories.ini eol=lf 29 | .hgignore eol=lf 30 | # vs can handle these as lf, but really wants them as crlf 31 | *.vcproj eol=crlf 32 | *.vcxproj eol=crlf 33 | *.vcxproj.filters eol=crlf 34 | *.csproj eol=crlf 35 | *.props eol=crlf 36 | *.targets eol=crlf 37 | *.sln eol=crlf 38 | *.sln.template eol=crlf 39 | *.bat eol=crlf 40 | *.cmd eol=crlf 41 | *.xaml eol=crlf 42 | # the templating parser will actually fail on lf, inexplicably setting every #line directive as '1' 43 | *.tt eol=crlf 44 | *.t4 eol=crlf 45 | *.ttinclude eol=crlf 46 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/bug_report.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Bug report 3 | about: Create a report to help us improve 4 | title: '' 5 | labels: '' 6 | assignees: '' 7 | 8 | --- 9 | 10 | **Describe the bug** 11 | A clear and concise description of what the bug is. 12 | 13 | **To Reproduce** 14 | Steps to reproduce the behavior: 15 | 1. Go to '...' 16 | 2. Click on '....' 17 | 3. Scroll down to '....' 18 | 4. See error 19 | 20 | **Console logs / stack traces** 21 | Please wrap in [triple backticks (```)](https://help.github.com/en/articles/creating-and-highlighting-code-blocks) to make it easier to read. 22 | 23 | **Expected behavior** 24 | A clear and concise description of what you expected to happen. 25 | 26 | **Screenshots** 27 | If applicable, add screenshots or videos to help explain your problem. 28 | 29 | **Environment (please complete the following information, where applicable):** 30 | - Unity Version: [e.g. Unity 2020.2.0f1] 31 | - Unity machine OS + version: [e.g. Windows 10] 32 | - ROS machine OS + version: [e.g. Ubuntu 18.04, ROS Noetic] 33 | - ROS–Unity communication: [e.g. Docker] 34 | - Branch or version: [e.g. v0.2.0] 35 | 36 | **Additional context** 37 | Add any other context about the problem here. 38 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/config.yml: -------------------------------------------------------------------------------- 1 | blank_issues_enabled: false 2 | contact_links: 3 | - name: Unity Robotics Forum 4 | url: https://forum.unity.com/forums/robotics.623/ 5 | about: Discussions and questions about Unity Robotics tools, demos, or integrations. -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/feature_request.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Feature request 3 | about: Suggest an idea for this project 4 | title: '' 5 | labels: '' 6 | assignees: '' 7 | 8 | --- 9 | 10 | **Is your feature request related to a problem? Please describe.** 11 | A clear and concise description of what the problem is. Ex. I'm always frustrated when [...] 12 | 13 | **Describe the solution you'd like** 14 | A clear and concise description of what you want to happen. 15 | 16 | **Describe alternatives you've considered** 17 | A clear and concise description of any alternative solutions or features you've considered. 18 | 19 | **Additional context** 20 | Add any other context or screenshots about the feature request here. 21 | -------------------------------------------------------------------------------- /.github/PULL_REQUEST_TEMPLATE.md: -------------------------------------------------------------------------------- 1 | ## Proposed change(s) 2 | 3 | Describe the changes made in this PR. 4 | 5 | ### Useful links (GitHub issues, JIRA tickets, forum threads, etc.) 6 | 7 | Provide any relevant links here. 8 | 9 | ### Types of change(s) 10 | 11 | - [ ] Bug fix 12 | - [ ] New feature 13 | - [ ] Code refactor 14 | - [ ] Documentation update 15 | - [ ] Other (please describe) 16 | 17 | ## Testing and Verification 18 | 19 | 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. 20 | 21 | ### Test Configuration: 22 | - Unity Version: [e.g. Unity 2020.2.0f1] 23 | - Unity machine OS + version: [e.g. Windows 10] 24 | - ROS machine OS + version: [e.g. Ubuntu 18.04, ROS Noetic] 25 | - ROS–Unity communication: [e.g. Docker] 26 | 27 | ## Checklist 28 | - [ ] Ensured this PR is up-to-date with the `dev` branch 29 | - [ ] Created this PR to target the `dev` branch 30 | - [ ] Followed the style guidelines as described in the [Contribution Guidelines](https://github.com/Unity-Technologies/URDF-Importer/blob/main/CONTRIBUTING.md) 31 | - [ ] Added tests that prove my fix is effective or that my feature works 32 | - [ ] Increased the [test coverage criteria](https://github.com/Unity-Technologies/URDF-Importer/blob/dev/.yamato/yamato-config.yml#L18) by 3% 33 | - [ ] 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) 34 | - [ ] Updated the documentation as appropriate 35 | 36 | ## Other comments -------------------------------------------------------------------------------- /.github/workflows/jira-link.yaml: -------------------------------------------------------------------------------- 1 | name: jira-link 2 | 3 | on: 4 | pull_request: 5 | types: [opened, edited, reopened, synchronize] 6 | 7 | jobs: 8 | jira-link: 9 | runs-on: ubuntu-20.04 10 | steps: 11 | - name: check pull request title and source branch name 12 | run: | 13 | echo "Checking pull request with title ${{ github.event.pull_request.title }} from source branch ${{ github.event.pull_request.head.ref }}" 14 | if ! [[ "${{ github.event.pull_request.title }}" =~ ^AIRO-[0-9]+[[:space:]].*$ ]] && ! [[ "${{ github.event.pull_request.head.ref }}" =~ ^AIRO-[0-9]+.*$ ]] 15 | then 16 | echo -e "Please make sure one of the following is true:\n \ 17 | 1. the pull request title starts with 'AIRO-xxxx ', e.g. 'AIRO-1024 My Pull Request'\n \ 18 | 2. the source branch starts with 'AIRO-xxx', e.g. 'AIRO-1024-my-branch'" 19 | exit 1 20 | else 21 | echo "Completed checking" 22 | fi 23 | -------------------------------------------------------------------------------- /.github/workflows/stale.yaml: -------------------------------------------------------------------------------- 1 | name: 'Stale issue handler' 2 | on: 3 | workflow_dispatch: 4 | schedule: 5 | - cron: '0 17 * * *' # 17:00 UTC; 10:00 PDT 6 | 7 | permissions: 8 | issues: write 9 | 10 | jobs: 11 | stale: 12 | runs-on: ubuntu-latest 13 | steps: 14 | - uses: actions/stale@v4.0.0 15 | id: stale 16 | with: 17 | stale-issue-label: 'stale' 18 | stale-issue-message: 'This issue has been marked stale because it has been open for 14 days with no activity. Please remove the stale label or comment on this issue, or the issue will be automatically closed in the next 14 days.' 19 | days-before-stale: 14 20 | days-before-pr-stale: -1 21 | days-before-close: 14 22 | days-before-pr-close: -1 23 | exempt-issue-labels: 'blocked,must,should,keep,pinned,work-in-progress,request,announcement' 24 | close-issue-message: 'This issue has been marked stale for 14 days and will now be closed. If this issue is still valid, please ping a maintainer.' 25 | - name: Print outputs 26 | run: echo ${{ join(steps.stale.outputs.*, ',') }} 27 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # This .gitignore file should be placed at the root of your Unity project directory 2 | # 3 | # Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore 4 | # 5 | /[Ll]ibrary/ 6 | /[Tt]emp/ 7 | /[Oo]bj/ 8 | /[Bb]uild/ 9 | /[Bb]uilds/ 10 | /[Ll]ogs/ 11 | /[Uu]ser[Ss]ettings/ 12 | 13 | 14 | # MemoryCaptures can get excessive in size. 15 | # They also could contain extremely sensitive data 16 | /[Mm]emoryCaptures/ 17 | 18 | # Asset meta data should only be ignored when the corresponding asset is also ignored 19 | !/[Aa]ssets/**/*.meta 20 | 21 | # Uncomment this line if you wish to ignore the asset store tools plugin 22 | # /[Aa]ssets/AssetStoreTools* 23 | 24 | # Autogenerated Jetbrains Rider plugin 25 | /[Aa]ssets/Plugins/Editor/JetBrains* 26 | 27 | # Rider cache directory 28 | .idea 29 | 30 | # Visual Studio cache directory 31 | .vs/ 32 | 33 | # Gradle cache directory 34 | .gradle/ 35 | 36 | # Autogenerated VS/MD/Consulo solution and project files 37 | ExportedObj/ 38 | .consulo/ 39 | *.csproj 40 | *.unityproj 41 | *.sln 42 | *.suo 43 | *.tmp 44 | *.user 45 | *.userprefs 46 | *.pidb 47 | *.booproj 48 | *.svd 49 | *.pdb 50 | *.mdb 51 | *.opendb 52 | *.VC.db 53 | 54 | # Unity3D generated meta files 55 | *.pidb.meta 56 | *.pdb.meta 57 | *.mdb.meta 58 | 59 | # Unity3D generated file on crash reports 60 | sysinfo.txt 61 | 62 | # Builds 63 | *.apk 64 | *.aab 65 | *.unitypackage 66 | 67 | # Crashlytics generated file 68 | crashlytics-build.properties 69 | 70 | # Packed Addressables 71 | /[Aa]ssets/[Aa]ddressable[Aa]ssets[Dd]ata/*/*.bin* 72 | 73 | # Temporary auto-generated Android Assets 74 | /[Aa]ssets/[Ss]treamingAssets/aa.meta 75 | /[Aa]ssets/[Ss]treamingAssets/aa/* 76 | 77 | # .DS_Store 78 | **/.DS_Store 79 | 80 | # Sonarqube 81 | .scannerwork/** 82 | .sonarqube/** -------------------------------------------------------------------------------- /.yamato/sonar.yml: -------------------------------------------------------------------------------- 1 | name: Sonarqube Scan 2 | agent: 3 | type: Unity::metal::macmini 4 | image: package-ci/mac 5 | flavor: m1.mac 6 | variables: 7 | PROJECT_PATH: TestUrdfImporter 8 | SONARQUBE_PROJECT_KEY: ai-robotics-urdf-importer 9 | SONARQUBE_PROJECT_BASE_DIR: /Users/bokken/build/output/Unity-Technologies/URDF-Importer/com.unity.robotics.urdf-importer 10 | MSBUILD_SLN_PATH: ./TestUrdfImporter/TestUrdfImporter.sln 11 | UNITY_VERSION: 2020.3.11f1 12 | commands: 13 | - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.it.unity3d.com/artifactory/api/npm/upm-npm 14 | - unity-downloader-cli -u $UNITY_VERSION -c Editor 15 | - brew install mono corretto 16 | - curl https://github.com/SonarSource/sonar-scanner-msbuild/releases/download/5.2.1.31210/sonar-scanner-msbuild-5.2.1.31210-net46.zip -o sonar-scanner-msbuild-net46.zip -L 17 | - unzip sonar-scanner-msbuild-net46.zip -d ~ 18 | - chmod a+x ~/sonar-scanner-4.6.1.2450/bin/sonar-scanner 19 | - .Editor/Unity.app/Contents/MacOS/Unity -projectPath $PROJECT_PATH -batchmode -quit -nographics -logFile - -executeMethod "UnityEditor.SyncVS.SyncSolution" 20 | - command: | 21 | cd $PROJECT_PATH 22 | for file in *.csproj; do sed -i.backup "s/^[[:blank:]]*false<\/ReferenceOutputAssembly>/true<\/ReferenceOutputAssembly>/g" $file; rm $file.backup; done 23 | cd ../ 24 | - mono ~/SonarScanner.MSBuild.exe begin /k:$SONARQUBE_PROJECT_KEY /d:sonar.host.url=$SONARQUBE_ENDPOINT_URL_PRD /d:sonar.login=$SONARQUBE_TOKEN_PRD /d:sonar.projectBaseDir=$SONARQUBE_PROJECT_BASE_DIR 25 | - msbuild $MSBUILD_SLN_PATH 26 | - mono ~/SonarScanner.MSBuild.exe end /d:sonar.login=$SONARQUBE_TOKEN_PRD 27 | triggers: 28 | cancel_old_ci: true 29 | expression: | 30 | ((pull_request.target eq "main" OR pull_request.target eq "dev") 31 | AND NOT pull_request.push.changes.all match "**/*.md") OR 32 | (push.branch eq "main" OR push.branch eq "dev") 33 | -------------------------------------------------------------------------------- /.yamato/yamato-config.yml: -------------------------------------------------------------------------------- 1 | name: URDF Importer Unit Tests 2 | agent: 3 | type: Unity::VM 4 | image: robotics/ci-ubuntu20:v0.1.0-795910 5 | flavor: i1.large 6 | variables: 7 | COVERAGE_EXPECTED: 35 8 | PATH: /root/.local/bin:/home/bokken/bin:/home/bokken/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/sbin:/home/bokken/.npm-global/bin 9 | commands: 10 | - git submodule update --init --recursive 11 | - python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade 12 | - unity-downloader-cli -u 2020.3.11f1 -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published 13 | - git clone git@github.cds.internal.unity3d.com:unity/utr.git utr 14 | - 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" 15 | # check test coverage 16 | - command: | 17 | linecoverage=$(cat test-results/Report/Summary.xml | grep Linecoverage | grep -Eo '[+-]?[0-9]+([.][0-9]+)?') 18 | echo "Line coverage: $linecoverage%" 19 | if (( $(echo "$linecoverage < $COVERAGE_EXPECTED" | bc -l) )) 20 | then echo "ERROR: Code coverage is under threshold of $COVERAGE_EXPECTED%" && exit 1 21 | fi 22 | triggers: 23 | cancel_old_ci: true 24 | expression: | 25 | ((pull_request.target eq "main" OR pull_request.target eq "dev") 26 | AND NOT pull_request.push.changes.all match "**/*.md") OR 27 | (push.branch eq "main" OR push.branch eq "dev") 28 | artifacts: 29 | logs: 30 | paths: 31 | - "test-results/**/*" 32 | -------------------------------------------------------------------------------- /InfoAcknowledgements.md: -------------------------------------------------------------------------------- 1 | Two of the Unity Robotics repos (URDF Importer and TCP Connector) contain code that has been forked from Siemens [ROS#](https://github.com/siemens/ros-sharp) and as such we would like to offer a special thanks to the Siemens ROS# team for their work. 2 | 3 | ## ROS# Project Team ## 4 | 5 | * [Martin Bischoff](https://github.com/MartinBischoff) 6 | * [Berkay Alp Cakal](https://github.com/berkayalpcakal) 7 | * [Daniel Reiter](https://github.com/ReitDan) 8 | * [Verena Roehrl](https://github.com/roehrlverena) 9 | 10 | ### Former Members and Visitors ### 11 | 12 | * [Suzannah Smith](https://github.com/SuzannahSmith) 13 | * [Rahul Warrier](https://github.com/jaguar243) 14 | * [Sifan Ye](https://github.com/sye8) 15 | 16 | ## Special Thanks ## 17 | * [Eric Vollenweider](https://github.com/EricVoll) for providing an updated UWP platform support 18 | * [Jesper Smith](https://github.com/jespersmith) bug fix regarding min-max angle limits 19 | * [Odysseas Doumas](https://github.com/odydoum) for a new threading model, new math functionalities and refactoring 20 | * [Reinbert](https://github.com/Reinbert) for the timestamp casting fix 21 | * [flonou](https://github.com/flonou) for code improvements in various ROS# scripts 22 | * [Ca Ja](https://github.com/MrNic3guy) for making Subscribe method thread-safe 23 | * [akira_you](https://github.com/akirayou) for adding the time stamp switching and BSON (de-)serialization features. 24 | * [David Whitney](https://github.com/dwhit) and [tarukosu](https://github.com/tarukosu-) for UWP platform support. 25 | * [Jeremy Fix](https://github.com/jeremyfix) for providing some helpful ROS communication example scripts in Unity. 26 | * [Karl Henkel](https://github.com/karl-) for providing the [reference](https://github.com/karl-/pb_Stl) for the Unity STL mesh importer/exporter. 27 | * [Hassanbot](https://github.com/hassanbot) for multiple bug fixes and [communication performance tests](https://github.com/siemens/ros-sharp/issues/66). 28 | * [Manuel Stahl](https://github.com/awesome-manuel) for adding JSON serialization tests, fixes and feature suggestions. 29 | * [Samuel Lindgren](https://github.com/samiamlabs) for adding the ROS service providers in Unity. 30 | 31 | --- 32 | 33 | © Siemens AG, 2017-2020 34 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) -------------------------------------------------------------------------------- /TestUrdfImporter/.gitignore: -------------------------------------------------------------------------------- 1 | # This .gitignore file should be placed at the root of your Unity project directory 2 | # 3 | # Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore 4 | # 5 | /[Ll]ibrary/ 6 | /[Tt]emp/ 7 | /[Oo]bj/ 8 | /[Bb]uild/ 9 | /[Bb]uilds/ 10 | /[Bb]uild_[Dd]ata/ 11 | /[Bb]uild.app/ 12 | /[Ll]ogs/ 13 | /[Uu]ser[Ss]ettings/ 14 | 15 | # MemoryCaptures can get excessive in size. 16 | # They also could contain extremely sensitive data 17 | /[Mm]emoryCaptures/ 18 | 19 | # Asset meta data should only be ignored when the corresponding asset is also ignored 20 | !/[Aa]ssets/**/*.meta 21 | 22 | # Uncomment this line if you wish to ignore the asset store tools plugin 23 | # /[Aa]ssets/AssetStoreTools* 24 | 25 | # Autogenerated Jetbrains Rider plugin 26 | /[Aa]ssets/Plugins/Editor/JetBrains* 27 | 28 | # Visual Studio cache directory 29 | .vs/ 30 | .idea/ 31 | 32 | # Gradle cache directory 33 | .gradle/ 34 | 35 | # Autogenerated VS/MD/Consulo solution and project files 36 | ExportedObj/ 37 | .consulo/ 38 | *.so 39 | *.debug 40 | *.csproj 41 | *.unityproj 42 | *.sln 43 | *.suo 44 | *.tmp 45 | *.user 46 | *.userprefs 47 | *.pidb 48 | *.booproj 49 | *.svd 50 | *.pdb 51 | *.mdb 52 | *.opendb 53 | *.VC.db 54 | 55 | # Unity3D generated meta files 56 | *.pidb.meta 57 | *.pdb.meta 58 | *.mdb.meta 59 | 60 | # Unity3D generated file on crash reports 61 | sysinfo.txt 62 | 63 | # Builds 64 | *.apk 65 | *.aab 66 | *.unitypackage 67 | 68 | # Crashlytics generated file 69 | crashlytics-build.properties 70 | 71 | # Packed Addressables 72 | /[Aa]ssets/[Aa]ddressable[Aa]ssets[Dd]ata/*/*.bin* 73 | 74 | # Temporary auto-generated Android Assets 75 | /[Aa]ssets/[Ss]treamingAssets/aa.meta 76 | /[Aa]ssets/[Ss]treamingAssets/aa/* 77 | -------------------------------------------------------------------------------- /TestUrdfImporter/Assets/Materials.meta: 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3 | --- !u!114 &11400000 4 | MonoBehaviour: 5 | m_ObjectHideFlags: 0 6 | m_CorrespondingSourceObject: {fileID: 0} 7 | m_PrefabInstance: {fileID: 0} 8 | m_PrefabAsset: {fileID: 0} 9 | m_GameObject: {fileID: 0} 10 | m_Enabled: 1 11 | m_EditorHideFlags: 0 12 | m_Script: {fileID: 11500000, guid: fcf7219bab7fe46a1ad266029b2fee19, type: 3} 13 | m_Name: Readme 14 | m_EditorClassIdentifier: 15 | icon: {fileID: 2800000, guid: 7801804018a7dcf42abb827444e18660, type: 3} 16 | title: Universal Render Pipeline Template 17 | sections: 18 | - heading: Universal Render Pipeline 19 | text: 'The Universal Project Template configures Project settings for Projects where performance, wide platform support, and ease of customizing graphics are the primary considerations.' 20 | linkText: 21 | url: 22 | - heading: 23 | text: 'This Template uses the Universal Render Pipeline (URP) and Shader Graph.' 24 | linkText: 25 | url: 26 | - heading: 27 | text: 'URP is prebuilt Scriptable Render Pipeline that is quick and easy to customize, and lets you create optimized graphics across a wide range of platforms. URP also includes an optimized 2D renderer complete with 2D lights and pixel perfect rendering, and an integrated post-processing solution.' 28 | linkText: 29 | url: 30 | - heading: 31 | text: 'Shader Graph is a tool that allows you to create shaders using a visual node editor instead of writing code.' 32 | linkText: 33 | url: 34 | - heading: 35 | text: 'This template contains a sample Scene that contains examples of how to configure lighting settings, Materials, Shaders, and post-processing effects in URP, several preconfigured Universal Render Pipeline Assets that let you quickly swap between graphics quality levels, and Presets that have been optimized for use with URP.' 36 | linkText: 37 | url: 38 | - heading: 39 | text: 'This template contains a sample Scene that contains examples of how to configure lighting settings, Materials, Shaders, and post-processing effects in URP, several preconfigured Universal Render Pipeline Assets that let you quickly swap between graphics quality 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tag:unity3d.com,2011: 3 | --- !u!937362698 &1 4 | VFXManager: 5 | m_ObjectHideFlags: 0 6 | m_IndirectShader: {fileID: 0} 7 | m_CopyBufferShader: {fileID: 0} 8 | m_SortShader: {fileID: 0} 9 | m_RenderPipeSettingsPath: 10 | m_FixedTimeStep: 0.016666668 11 | m_MaxDeltaTime: 0.05 12 | -------------------------------------------------------------------------------- /TestUrdfImporter/ProjectSettings/VersionControlSettings.asset: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | %TAG !u! tag:unity3d.com,2011: 3 | --- !u!890905787 &1 4 | VersionControlSettings: 5 | m_ObjectHideFlags: 0 6 | m_Mode: Visible Meta Files 7 | m_CollabEditorSettings: 8 | inProgressEnabled: 1 9 | -------------------------------------------------------------------------------- /TestUrdfImporter/ProjectSettings/XRSettings.asset: -------------------------------------------------------------------------------- 1 | { 2 | "m_SettingKeys": [ 3 | "VR Device Disabled", 4 | "VR Device User Alert" 5 | ], 6 | "m_SettingValues": [ 7 | "False", 8 | "False" 9 | ] 10 | } -------------------------------------------------------------------------------- /Third Party Notices.md: -------------------------------------------------------------------------------- 1 | Component name: ROS# (siemens/ros-sharp) 2 | 3 | License Type: Apache 2.0 4 | 5 | Copyright 2017-2020 Siemens AG 6 | 7 | ``` 8 | Licensed under the Apache License, Version 2.0 (the "License"); you may not use 9 | this file except in compliance with the License. You may obtain a copy of the 10 | License at 11 | 12 | http://www.apache.org/licenses/LICENSE-2.0 13 | 14 | Unless required by applicable law or agreed to in writing, software distributed 15 | under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR 16 | CONDITIONS OF ANY KIND, either express or implied. See the License for the 17 | specific language governing permissions and limitations under the License. 18 | ``` 19 | 20 | --- 21 | 22 | Component name: VHACD Unity (jasonmeisel/v-hacd-unity) 23 | 24 | License Type: Apache 2.0 25 | 26 | Copyright 2017-2020 Jason Meisel 27 | 28 | ``` 29 | Licensed under the Apache License, Version 2.0 (the "License"); you may not use 30 | this file except in compliance with the License. You may obtain a copy of the 31 | License at 32 | 33 | http://www.apache.org/licenses/LICENSE-2.0 34 | 35 | Unless required by applicable law or agreed to in writing, software distributed 36 | under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR 37 | CONDITIONS OF ANY KIND, either express or implied. See the License for the 38 | specific language governing permissions and limitations under the License. 39 | ``` -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/CHANGELOG.md.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 59fa098e3fa1d450a9534c267a9f1175 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 1256b59a97bdc43e1a28d980538f7a06 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d1243f26ab35bb7479127704feace27a 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/HingeJointLimitsManagerEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8da7899cd5182224caa39186f3f1aeee 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/InspectorReadOnlyAttributeDrawer.cs: -------------------------------------------------------------------------------- 1 | using UnityEditor; 2 | using UnityEngine; 3 | 4 | [CustomPropertyDrawer(typeof(InspectorReadOnlyAttribute))] 5 | public class InspectorReadOnlyAttributeDrawer : PropertyDrawer 6 | { 7 | public override float GetPropertyHeight(SerializedProperty property, GUIContent label) 8 | { 9 | return isHidden? 0: EditorGUI.GetPropertyHeight(property, label, true); 10 | } 11 | 12 | public bool isHidden => (EditorApplication.isPlaying ? 13 | ((InspectorReadOnlyAttribute)attribute).hideInPlayMode : 14 | ((InspectorReadOnlyAttribute)attribute).hideInEditMode); 15 | 16 | public override void OnGUI(Rect position, SerializedProperty property, GUIContent label) 17 | { 18 | if (!isHidden) 19 | { 20 | EditorGUI.LabelField(position, property.displayName + ": " + property.stringValue, EditorStyles.boldLabel); 21 | } 22 | } 23 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/InspectorReadOnlyAttributeDrawer.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b940b8e2b57c12049bb649419e93f0d2 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfCollisionEditor.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using UnityEditor; 16 | using UnityEngine; 17 | 18 | namespace Unity.Robotics.UrdfImporter.Editor 19 | { 20 | [CustomEditor(typeof(UrdfCollision))] 21 | class UrdfCollisionEditor : UnityEditor.Editor 22 | { 23 | private UrdfCollision urdfCollision; 24 | 25 | public override void OnInspectorGUI() 26 | { 27 | urdfCollision = (UrdfCollision)target; 28 | 29 | GUILayout.Space(5); 30 | 31 | EditorGUILayout.BeginHorizontal(); 32 | EditorGUILayout.PrefixLabel("Geometry Type"); 33 | EditorGUILayout.LabelField(urdfCollision.geometryType.ToString()); 34 | EditorGUILayout.EndHorizontal(); 35 | 36 | DisplayWarnings(); 37 | } 38 | 39 | private void DisplayWarnings() 40 | { 41 | if (!urdfCollision.transform.HasExactlyOneChild()) 42 | { 43 | GUILayout.Space(5); 44 | EditorGUILayout.HelpBox("Visual element must have one and only one child Geometry element.", MessageType.Error); 45 | } 46 | else if (UrdfGeometry.IsTransformed(urdfCollision.transform.GetChild(0), urdfCollision.geometryType)) 47 | { 48 | GUILayout.BeginVertical("HelpBox"); 49 | EditorGUILayout.HelpBox("Changes to the transform of the child Geometry element cannot be exported to URDF. " + 50 | "Make any translation, rotation, or scale changes to this Visual object instead.", MessageType.Error); 51 | 52 | if (GUILayout.Button("Fix transformations")) 53 | { 54 | //Only transfer rotation if geometry is not a mesh 55 | bool transferRotation = urdfCollision.geometryType != GeometryTypes.Mesh; 56 | urdfCollision.transform.MoveChildTransformToParent(transferRotation); 57 | } 58 | GUILayout.EndVertical(); 59 | } 60 | } 61 | } 62 | } 63 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfCollisionEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 719fc1238585c0a45a7f552b6b82b3fd 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfCollisionsEditor.cs: -------------------------------------------------------------------------------- 1 |  /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using UnityEditor; 16 | using UnityEngine; 17 | 18 | namespace Unity.Robotics.UrdfImporter.Editor 19 | { 20 | [CustomEditor(typeof(UrdfCollisions))] 21 | class UrdfCollisionsEditor : UnityEditor.Editor 22 | { 23 | private UrdfCollisions urdfCollisions; 24 | private GeometryTypes geometryType; 25 | 26 | public override void OnInspectorGUI() 27 | { 28 | urdfCollisions = (UrdfCollisions)target; 29 | 30 | GUILayout.Space(10); 31 | geometryType = (GeometryTypes)EditorGUILayout.EnumPopup("Type of collision", geometryType); 32 | 33 | if (GUILayout.Button("Add collision")) 34 | UrdfCollisionExtensions.Create(urdfCollisions.transform, geometryType); 35 | } 36 | } 37 | } 38 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfCollisionsEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 114be454b3eb9af42b0b503c00f4628d 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfFkrobotEditor.cs: -------------------------------------------------------------------------------- 1 | using UnityEditor; 2 | using UnityEngine; 3 | using Unity.Robotics.UrdfImporter.Control; 4 | 5 | namespace Unity.Robotics.UrdfImporter.Editor 6 | { 7 | [CustomEditor(typeof(FKRobot), true)] 8 | public class UrdfFkrobotEditor : UnityEditor.Editor 9 | { 10 | 11 | private FKRobot fkrobot; 12 | 13 | private SerializedProperty currentAngles; 14 | private SerializedProperty rotationMatrix; 15 | 16 | private void OnEnable() 17 | { 18 | currentAngles = serializedObject.FindProperty("currentAngles"); 19 | rotationMatrix = serializedObject.FindProperty("endEffectorPosition"); 20 | } 21 | public override void OnInspectorGUI() 22 | { 23 | fkrobot = (FKRobot)target; 24 | 25 | serializedObject.Update(); 26 | EditorGUILayout.PropertyField(currentAngles); 27 | EditorGUILayout.PropertyField(rotationMatrix); 28 | serializedObject.ApplyModifiedProperties(); 29 | 30 | GUILayout.Space(5); 31 | if (GUILayout.Button("Add DH Parameters")) 32 | { 33 | AddDhParameterWindow window = (AddDhParameterWindow)EditorWindow.GetWindow(typeof(AddDhParameterWindow)); 34 | window.script = fkrobot; 35 | window.minSize = new Vector2(500, 200); 36 | window.GetEditorPrefs(); 37 | window.Show(); 38 | } 39 | } 40 | 41 | 42 | } 43 | } 44 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfFkrobotEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e088b208a26e44793addcacd40272792 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfInertialEditor.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using UnityEditor; 16 | using UnityEngine; 17 | 18 | namespace Unity.Robotics.UrdfImporter.Editor 19 | { 20 | [CustomEditor(typeof(UrdfInertial))] 21 | public class UrdfInertialEditor : UnityEditor.Editor 22 | { 23 | private Vector3 testVector; 24 | 25 | public override void OnInspectorGUI() 26 | { 27 | UrdfInertial urdfInertial = (UrdfInertial) target; 28 | 29 | GUILayout.Space(5); 30 | urdfInertial.displayInertiaGizmo = 31 | EditorGUILayout.ToggleLeft("Display Inertia Gizmo", urdfInertial.displayInertiaGizmo); 32 | GUILayout.Space(5); 33 | 34 | bool newValue = EditorGUILayout.BeginToggleGroup("Use URDF Data", urdfInertial.useUrdfData); 35 | EditorGUILayout.Vector3Field("URDF Center of Mass", urdfInertial.centerOfMass); 36 | EditorGUILayout.Vector3Field("URDF Inertia Tensor", urdfInertial.inertiaTensor); 37 | EditorGUILayout.Vector3Field("URDF Inertia Tensor Rotation", 38 | urdfInertial.inertiaTensorRotation.eulerAngles); 39 | EditorGUILayout.EndToggleGroup(); 40 | 41 | if (newValue != urdfInertial.useUrdfData) 42 | { 43 | urdfInertial.useUrdfData = newValue; 44 | urdfInertial.UpdateLinkData(); 45 | } 46 | } 47 | } 48 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfInertialEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9b97b9bad9ce6574596410b440c07328 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfJointEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 46d8d729a220ab74e9f75e98979f333b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfLinkEditor.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using UnityEditor; 16 | using UnityEngine; 17 | 18 | namespace Unity.Robotics.UrdfImporter.Editor 19 | { 20 | [CustomEditor(typeof(UrdfLink))] 21 | public class UrdfLinkEditor : UnityEditor.Editor 22 | { 23 | private UrdfLink urdfLink; 24 | private UrdfJoint.JointTypes jointType = UrdfJoint.JointTypes.Fixed; 25 | 26 | public override void OnInspectorGUI() 27 | { 28 | urdfLink = (UrdfLink) target; 29 | 30 | GUILayout.Space(5); 31 | urdfLink.IsBaseLink = EditorGUILayout.Toggle("Is Base Link", urdfLink.IsBaseLink); 32 | GUILayout.Space(5); 33 | 34 | EditorGUILayout.BeginVertical("HelpBox"); 35 | jointType = (UrdfJoint.JointTypes) EditorGUILayout.EnumPopup( 36 | "Child Joint Type", jointType); 37 | 38 | if (GUILayout.Button("Add child link (with joint)")) 39 | { 40 | UrdfLink childLink = UrdfLinkExtensions.Create(urdfLink.transform).GetComponent(); 41 | UrdfJoint.Create(childLink.gameObject, jointType); 42 | } 43 | EditorGUILayout.EndVertical(); 44 | } 45 | } 46 | } 47 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfLinkEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8342ef1205e407f488826e56f801c9bc 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfPluginsEditor.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using UnityEditor; 16 | using UnityEngine; 17 | 18 | namespace Unity.Robotics.UrdfImporter.Editor 19 | { 20 | [CustomEditor(typeof(UrdfPlugins))] 21 | class UrdfPluginsEditor : UnityEditor.Editor 22 | { 23 | private GeometryTypes geometryType; 24 | 25 | public override void OnInspectorGUI() 26 | { 27 | UrdfPlugins urdfPlugins = (UrdfPlugins)target; 28 | 29 | GUILayout.Space(8); 30 | 31 | if (GUILayout.Button("Add Plugin")) 32 | UrdfPlugin.Create(urdfPlugins.transform); 33 | } 34 | } 35 | } 36 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfPluginsEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0fe4fabdbfedf5048a5b9150315168dc 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfRobotEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 808aa9a23c5441744b83dc9740d92868 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfVisualEditor.cs: -------------------------------------------------------------------------------- 1 |  /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using UnityEditor; 16 | using UnityEngine; 17 | 18 | namespace Unity.Robotics.UrdfImporter.Editor 19 | { 20 | [CustomEditor(typeof(UrdfVisual))] 21 | class UrdfVisualEditor : UnityEditor.Editor 22 | { 23 | private UrdfVisual urdfVisual; 24 | 25 | public override void OnInspectorGUI() 26 | { 27 | urdfVisual = (UrdfVisual)target; 28 | 29 | GUILayout.Space(5); 30 | 31 | EditorGUILayout.BeginHorizontal(); 32 | EditorGUILayout.PrefixLabel("Geometry Type"); 33 | EditorGUILayout.LabelField(urdfVisual.geometryType.ToString()); 34 | EditorGUILayout.EndHorizontal(); 35 | 36 | if (GUILayout.Button("Add collision to match visual")) 37 | { 38 | urdfVisual.AddCorrespondingCollision(); 39 | } 40 | 41 | DisplayWarnings(); 42 | } 43 | 44 | private void DisplayWarnings() 45 | { 46 | if (!urdfVisual.transform.HasExactlyOneChild()) 47 | { 48 | GUILayout.Space(5); 49 | EditorGUILayout.HelpBox("Visual element must have one and only one child Geometry element.", MessageType.Error); 50 | } 51 | else if (UrdfGeometry.IsTransformed(urdfVisual.transform.GetChild(0), urdfVisual.geometryType)) 52 | { 53 | GUILayout.Space(5); 54 | EditorGUILayout.HelpBox("Changes to the transform of the child Geometry element cannot be exported to URDF. " + 55 | "Make any translation, rotation, or scale changes to this Visual object instead.", MessageType.Error); 56 | 57 | if (GUILayout.Button("Fix transformations")) 58 | { 59 | bool transferRotation = urdfVisual.geometryType != GeometryTypes.Mesh; 60 | urdfVisual.transform.MoveChildTransformToParent(transferRotation); 61 | } 62 | } 63 | } 64 | } 65 | } 66 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfVisualEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b044acaadde4b834aa71afa38fc5c110 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfVisualsEditor.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using UnityEditor; 16 | using UnityEngine; 17 | 18 | namespace Unity.Robotics.UrdfImporter.Editor 19 | { 20 | [CustomEditor(typeof(UrdfVisuals))] 21 | class UrdfVisualsEditor : UnityEditor.Editor 22 | { 23 | private UrdfVisuals urdfVisuals; 24 | private GeometryTypes geometryType = GeometryTypes.Box; 25 | 26 | public override void OnInspectorGUI() 27 | { 28 | urdfVisuals = (UrdfVisuals)target; 29 | 30 | GUILayout.Space(10); 31 | geometryType = (GeometryTypes)EditorGUILayout.EnumPopup("Type of visual", geometryType); 32 | 33 | EditorGUILayout.BeginHorizontal(); 34 | if (GUILayout.Button("Add visual")) 35 | UrdfVisualExtensions.Create(urdfVisuals.transform, geometryType); 36 | EditorGUILayout.EndHorizontal(); 37 | } 38 | } 39 | } 40 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/CustomEditors/UrdfVisualsEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 47375ad816a64194865c6ff826ec5a2a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/MenuItems.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 52efbcffff65f8d4caa55408a1bd0f9b 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/MenuItems/AddDhParameterWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d4335a29ab8034d8caea7d41c5bc3270 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/MenuItems/CompareUrdf.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: aec7e9e918ba6477aa70eceef577ae5b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/MenuItems/FileImportMenu.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a91129a5b60ff4470a8749a210149fcc 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/MenuItems/UrdfExportEditorWindow.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fe4155eae653842448a6770a238b08a4 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/MenuItems/UrdfImporterContextMenuItem.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using System.IO; 16 | using UnityEditor; 17 | using UnityEngine; 18 | 19 | namespace Unity.Robotics.UrdfImporter.Editor 20 | { 21 | public static class UrdfImporterContextMenuItem 22 | { 23 | [MenuItem("Assets/Import Robot from Selected URDF file", true, 0)] 24 | public static bool CreateUrdfObject_IsValid() 25 | { 26 | string assetPath = AssetDatabase.GetAssetPath(Selection.activeObject); 27 | 28 | return (Path.GetExtension(assetPath)?.ToLower() == ".urdf"); 29 | } 30 | 31 | [MenuItem("Assets/Import Robot from Selected URDF file")] 32 | private static void CreateUrdfObject() 33 | { 34 | //Get path to asset, check if it's a urdf file 35 | string assetPath = AssetDatabase.GetAssetPath(Selection.activeObject); 36 | 37 | if (Path.GetExtension(assetPath)?.ToLower() == ".urdf") 38 | { 39 | // Get existing open window or if none, make a new one: 40 | FileImportMenu window = (FileImportMenu)EditorWindow.GetWindow(typeof(FileImportMenu)); 41 | window.urdfFile = UrdfAssetPathHandler.GetFullAssetPath(assetPath); 42 | window.minSize = new Vector2(500, 200); 43 | window.Show(); 44 | } 45 | else 46 | EditorUtility.DisplayDialog("URDF Import", 47 | "The file you selected was not a URDF file. Please select a valid URDF file.", "Ok"); 48 | } 49 | } 50 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/MenuItems/UrdfImporterContextMenuItem.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4bc1f3f83dd255c4899cef035d05034a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/MenuItems/UrdfImporterMenuItem.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using System.IO; 16 | using UnityEditor; 17 | using UnityEngine; 18 | 19 | namespace Unity.Robotics.UrdfImporter.Editor 20 | { 21 | public class UrdfImporterMenuItem 22 | { 23 | [MenuItem("GameObject/3D Object/URDF Model (import)")] 24 | private static void CreateUrdfObject() 25 | { 26 | string urdfFile = EditorUtility.OpenFilePanel( 27 | "Import local URDF", 28 | Path.Combine(Path.GetDirectoryName(Application.dataPath),"Assets"), 29 | "urdf"); 30 | // Get existing open window or if none, make a new one: 31 | FileImportMenu window = (FileImportMenu)EditorWindow.GetWindow(typeof(FileImportMenu)); 32 | window.urdfFile = urdfFile; 33 | window.minSize = new Vector2(500, 200); 34 | window.Show(); 35 | } 36 | } 37 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/MenuItems/UrdfImporterMenuItem.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b15bb472aa579c347b5094e94a95da72 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/MenuItems/UrdfRobotCreatorMenuItem.cs: -------------------------------------------------------------------------------- 1 |  /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using UnityEditor; 16 | 17 | namespace Unity.Robotics.UrdfImporter.Editor 18 | { 19 | public static class UrdfRobotCreatorMenuItem 20 | { 21 | [MenuItem("GameObject/3D Object/URDF Model (new)")] 22 | private static void CreateUrdfObject() 23 | { 24 | 25 | UrdfRobotExtensions.Create(); 26 | } 27 | } 28 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/MenuItems/UrdfRobotCreatorMenuItem.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: dad3cf6147a0b014ca525193ff3fe43b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/Unity.Robotics.URDFImporter.Editor.asmdef: -------------------------------------------------------------------------------- 1 | { 2 | "name": "Unity.Robotics.UrdfImporter.Editor", 3 | "rootNamespace": "Unity.Robotics.UrdfImporter.Urdf.Editor", 4 | "references": [ 5 | "GUID:b1ef917f7a8a86a4eb639ec2352edbf8", 6 | "GUID:6a697808d7c80a549b57420070d6c4f3", 7 | "GUID:478a2357cc57436488a56e564b08d223" 8 | ], 9 | "includePlatforms": [ 10 | "Editor" 11 | ], 12 | "excludePlatforms": [], 13 | "allowUnsafeCode": true, 14 | "overrideReferences": false, 15 | "precompiledReferences": [], 16 | "autoReferenced": true, 17 | "defineConstraints": [], 18 | "versionDefines": [], 19 | "noEngineReferences": false 20 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Editor/Unity.Robotics.URDFImporter.Editor.asmdef.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 465c1207fffb96245a352265e7622205 3 | AssemblyDefinitionImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b057d40c3ef9f6d498a31b860c25495e 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/AssemblyInfo.cs: -------------------------------------------------------------------------------- 1 | using System.Runtime.CompilerServices; 2 | 3 | #if UNITY_EDITOR 4 | [assembly: InternalsVisibleTo("Unity.Robotics.UrdfImporter.Editor")] 5 | [assembly: InternalsVisibleTo("Unity.Robotics.UrdfImporter.Editor.Tests")] 6 | #endif 7 | [assembly: InternalsVisibleTo("Unity.Robotics.UrdfImporter.Runtime.Tests")] 8 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/AssemblyInfo.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 195895fc9166341788e0eb566d1f4ec5 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/AssetHandlers.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0531422a05558a841bc329ab7070660b 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/AssetHandlers/LocateAssetHandler.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7c8466a168c9bdc4085c7a930a64e01a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/AssetHandlers/UrdfAssetPathHandler.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: eda16a4d0a12f154a9ee44b2a9ebadba 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/AssetHandlers/UrdfExportPathHandler.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7ebd09bf2a1f1044e8cb83f397cf5bbe 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/AssetHandlers/UrdfMeshExportHandler.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4fa003382182826448b8df1480e6ce7a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Controller.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a1cbca7e87f234f36896b83a23f3c7c4 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Controller/Controller.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d607ea46a579d44c4b19a6322ce4b9b2 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Controller/FKRobot.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9c090eaaa853542969cc52590a778d2c 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Controller/IKRobot.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: eecb3912c17824545b9360dfb3358976 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Controller/JointControl.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 40e529cb207884a939b5a774102363e2 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Extensions.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 00748cd711d82a14bb959693166c12dd 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Extensions/BuiltInExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ac60f49b03340044085c24fcb9875c4c 3 | timeCreated: 1507114469 4 | licenseType: Pro 5 | MonoImporter: 6 | serializedVersion: 2 7 | defaultReferences: [] 8 | executionOrder: 0 9 | icon: {instanceID: 0} 10 | userData: 11 | assetBundleName: 12 | assetBundleVariant: 13 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Extensions/MaterialExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fbf2ce4b08b9e4e289cb2d2ba84ba631 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfCollisionExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 11c78635e185ce14ba7c9c92ee5f44a3 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfCollisionsExtensions.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using System.Collections.Generic; 16 | using System.Linq; 17 | using UnityEngine; 18 | 19 | namespace Unity.Robotics.UrdfImporter 20 | { 21 | public static class UrdfCollisionsExtensions 22 | { 23 | public static UrdfCollisions Create(Transform parent, List collisions = null) 24 | { 25 | GameObject collisionsObject = new GameObject("Collisions"); 26 | collisionsObject.transform.SetParentAndAlign(parent); 27 | UrdfCollisions urdfCollisions = collisionsObject.AddComponent(); 28 | 29 | collisionsObject.hideFlags = HideFlags.NotEditable; 30 | urdfCollisions.hideFlags = HideFlags.None; 31 | 32 | if (collisions != null) 33 | { 34 | foreach (Link.Collision collision in collisions) 35 | { 36 | UrdfCollisionExtensions.Create(urdfCollisions.transform, collision); 37 | } 38 | } 39 | return urdfCollisions; 40 | } 41 | 42 | public static List ExportCollisionsData(this UrdfCollisions urdfCollisions) 43 | { 44 | UrdfCollision[] urdfCollisionsList = urdfCollisions.GetComponentsInChildren(); 45 | return urdfCollisionsList.Select(urdfCollision => urdfCollision.ExportCollisionData()).ToList(); 46 | } 47 | } 48 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfCollisionsExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e50273b4e5a1b7a428bf69774b415b35 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfGeometry.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: de9bf6e29caa435697a1dfc99340c2d7 3 | timeCreated: 1535012948 -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfGeometryCollision.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 2be518c44448ef843b2c87a724f76d38 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfGeometryVisual.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 6ffdcf00a5ee82147ba4b022b873628d 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfLinkExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: eb905a4fd3a609d42badeefe2f25ce9a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfMaterial.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 211062c8ee35252428353eafb7e3e498 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfRobotExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: dc1741ab62e85ff4eb2ad00e3482cca8 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfVisualExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: efb784c3312ba8f4f959fbdb12f80252 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfVisualsExtensions.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using System.Collections.Generic; 16 | using System.Linq; 17 | using UnityEngine; 18 | 19 | namespace Unity.Robotics.UrdfImporter 20 | { 21 | public static class UrdfVisualsExtensions 22 | { 23 | public static void Create(Transform parent, List visuals = null) 24 | { 25 | GameObject visualsObject = new GameObject("Visuals"); 26 | visualsObject.transform.SetParentAndAlign(parent); 27 | UrdfVisuals urdfVisuals = visualsObject.AddComponent(); 28 | 29 | visualsObject.hideFlags = HideFlags.NotEditable; 30 | urdfVisuals.hideFlags = HideFlags.None; 31 | 32 | if (visuals != null) 33 | { 34 | foreach (Link.Visual visual in visuals) 35 | { 36 | UrdfVisualExtensions.Create(urdfVisuals.transform, visual); 37 | } 38 | } 39 | } 40 | 41 | public static List ExportVisualsData(this UrdfVisuals urdfVisuals) 42 | { 43 | UrdfVisual[] urdfVisualsList = urdfVisuals.GetComponentsInChildren(); 44 | 45 | return urdfVisualsList.Select(urdfCollision => urdfCollision.ExportVisualData()).ToList(); 46 | } 47 | } 48 | } 49 | 50 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Extensions/UrdfVisualsExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 06d52ff46881bce4a865382c85a05965 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/JointLimitsManagers.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: bd08601e1af276a4c978f077e584a3ae 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/JointLimitsManagers/HingeJointLimitsManager.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5f37dc21ac85e2b4ca12e377369baae4 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/JointLimitsManagers/PrismaticJointLimitsManager.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a182281fdb64f4b4b8f7149bfd060d97 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Math.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c94549e62512a3b41b4a9838f73ee6a3 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Math/Matrix3x3.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b7cea3296f0c91b42822533ef3060a64 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/MeshProcessing.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a201ede7f45054f49b509ba49317e9b7 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/MeshProcessing/ColladaAssetPostProcessor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4501824caf23d264ca7719b00bb19ea9 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/MeshProcessing/StlAssetPostProcessor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0f8c12836d114cc4c81c90d1cddde476 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/MeshProcessing/StlExporter.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 583545228adda674c95a96e8a8249d7b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/MeshProcessing/StlImporter.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 435393e343c62ef49abb40c864150c94 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/MeshProcessing/StlReader.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: cd6ec4b5ec84e214b8458c4836a50d05 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/MeshProcessing/StlWriter.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 060d5de32bca2894da7fe215e4996438 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Properties.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9e5e78882e5b56a4a857735cb45f34f7 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Properties/AssemblyInfo.cs: -------------------------------------------------------------------------------- 1 | using System.Reflection; 2 | using System.Runtime.CompilerServices; 3 | using System.Runtime.InteropServices; 4 | 5 | // General Information about an assembly is controlled through the following 6 | // set of attributes. Change these attribute values to modify the information 7 | // associated with an assembly. 8 | [assembly: AssemblyTitle("Urdf")] 9 | [assembly: AssemblyDescription("")] 10 | [assembly: AssemblyConfiguration("")] 11 | [assembly: AssemblyCompany("Licence Owner")] 12 | [assembly: AssemblyProduct("Urdf")] 13 | [assembly: AssemblyCopyright("Copyright © Licence Owner 2017")] 14 | [assembly: AssemblyTrademark("")] 15 | [assembly: AssemblyCulture("")] 16 | 17 | // Setting ComVisible to false makes the types in this assembly not visible 18 | // to COM components. If you need to access a type in this assembly from 19 | // COM, set the ComVisible attribute to true on that type. 20 | [assembly: ComVisible(false)] 21 | 22 | // The following GUID is for the ID of the typelib if this project is exposed to COM 23 | [assembly: Guid("d33101da-7196-4545-b708-c8e0c308c5fa")] 24 | 25 | // Version information for an assembly consists of the following four values: 26 | // 27 | // Major Version 28 | // Minor Version 29 | // Build Number 30 | // Revision 31 | // 32 | // You can specify all the values or you can default the Build and Revision Numbers 33 | // by using the '*' as shown below: 34 | // [assembly: AssemblyVersion("1.0.*")] 35 | [assembly: AssemblyVersion("0.0.1.0")] 36 | [assembly: AssemblyFileVersion("1.0.0.0")] 37 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Properties/AssemblyInfo.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 464648b85acb85346a11268a9a702d51 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Properties/InspectorReadOnlyAttribute.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | 3 | public class InspectorReadOnlyAttribute : PropertyAttribute 4 | { 5 | public bool hideInPlayMode; 6 | public bool hideInEditMode; 7 | 8 | public InspectorReadOnlyAttribute(bool hideInEditMode = false, bool hideInPlayMode = false) 9 | { 10 | this.hideInEditMode = hideInEditMode; 11 | this.hideInPlayMode = hideInPlayMode; 12 | } 13 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Properties/InspectorReadOnlyAttribute.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b38a19c1e2754214c86a2fa489ca0151 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/RosSharpDefinitions.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4d27646436f058c4abf39df74eb3f0dc 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/RosSharpDefinitions/Joint.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d5ce6f0d4b35a3a4983e4eb9286fb10f 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/RosSharpDefinitions/Link.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 219d629ef3d47184391ea092c4b35d47 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/RosSharpDefinitions/Origin.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using System.Xml; 16 | using System.Xml.Linq; 17 | 18 | namespace Unity.Robotics.UrdfImporter 19 | { 20 | public class Origin 21 | { 22 | public double[] Xyz; 23 | public double[] Rpy; 24 | 25 | public Origin(XElement node) 26 | { 27 | Xyz = node.Attribute("xyz") != null ? node.Attribute("xyz").ReadDoubleArray() : null; 28 | Rpy = node.Attribute("rpy") != null ? node.Attribute("rpy").ReadDoubleArray() : null; 29 | } 30 | 31 | public Origin(double[] xyz, double[] rpy) 32 | { 33 | Xyz = xyz; 34 | Rpy = rpy; 35 | } 36 | 37 | public void WriteToUrdf(XmlWriter writer) 38 | { 39 | writer.WriteStartElement("origin"); 40 | if(Rpy != null) 41 | writer.WriteAttributeString("rpy", Rpy.DoubleArrayToString()); 42 | if(Xyz != null) 43 | writer.WriteAttributeString("xyz", Xyz.DoubleArrayToString()); 44 | writer.WriteEndElement(); 45 | } 46 | } 47 | } 48 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/RosSharpDefinitions/Origin.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d04ada70b34565247b9adadc239afb5a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/RosSharpDefinitions/Plugin.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using System.Xml; 16 | using System.Xml.Linq; 17 | 18 | namespace Unity.Robotics.UrdfImporter 19 | { 20 | public class Plugin 21 | { 22 | public string text; 23 | 24 | public Plugin(XElement node) 25 | { 26 | text = node.ToString(); 27 | } 28 | 29 | public Plugin(string text) 30 | { 31 | this.text = text; 32 | } 33 | 34 | public void WriteToUrdf(XmlWriter writer) 35 | { 36 | XmlDocument xDoc = new XmlDocument {PreserveWhitespace = true}; 37 | xDoc.LoadXml(text); 38 | xDoc.WriteContentTo(writer); 39 | writer.WriteWhitespace("\n"); 40 | } 41 | } 42 | } 43 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/RosSharpDefinitions/Plugin.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: bde348f7ed4ad1b49a3b3f12472bd2f2 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/RosSharpDefinitions/Robot.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 16514505d1e10824286a5011cbad6688 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/RosSharpDefinitions/XAttributeExtensions.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2017 3 | Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using System; 16 | using System.Collections.Generic; 17 | using System.Linq; 18 | using System.Xml.Linq; 19 | using System.Globalization; 20 | 21 | namespace Unity.Robotics.UrdfImporter 22 | { 23 | public static class XAttributeExtensions 24 | { 25 | public static double[] ReadDoubleArray(this XAttribute attribute) 26 | { 27 | return Array.ConvertAll( 28 | ((string)attribute).Split(' ').Where(x => !string.IsNullOrEmpty(x)).ToArray(), 29 | i => Convert.ToDouble(i, CultureInfo.InvariantCulture)); 30 | } 31 | 32 | public static double ReadOptionalDouble(this XAttribute attribute) 33 | { 34 | return (attribute != null) ? (double)attribute : double.NaN; 35 | } 36 | 37 | public static string DoubleArrayToString(this IEnumerable arr) 38 | { 39 | string arrString = arr.Aggregate("", (current, num) => (current + " " + num)); 40 | return arrString.Substring(1); //Gets rid of extra space at start of string 41 | } 42 | } 43 | } 44 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/RosSharpDefinitions/XAttributeExtensions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b5c7f6cc278e87246b46f8094dcda217 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/RuntimeImport.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 988e09d1a327b4d4baac8e53f6f0a74b 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/RuntimeImport/RuntimeUrdf.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 2771f3570b0d14940ba770e05b5c143f 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/RuntimeImport/RuntimeUrdfImporterExample.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8451d670008ef45468714595654871b8 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Unity.Robotics.URDFImporter.asmdef: -------------------------------------------------------------------------------- 1 | { 2 | "name": "Unity.Robotics.UrdfImporter", 3 | "rootNamespace": "Unity.Robotics.UrdfImporter.Urdf", 4 | "references": [ 5 | "GUID:6a697808d7c80a549b57420070d6c4f3" 6 | ], 7 | "includePlatforms": [ 8 | "Editor", 9 | "LinuxStandalone64", 10 | "macOSStandalone", 11 | "WindowsStandalone64" 12 | ], 13 | "excludePlatforms": [], 14 | "allowUnsafeCode": true, 15 | "overrideReferences": false, 16 | "precompiledReferences": [], 17 | "autoReferenced": true, 18 | "defineConstraints": [], 19 | "versionDefines": [], 20 | "noEngineReferences": false 21 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/Unity.Robotics.URDFImporter.asmdef.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b1ef917f7a8a86a4eb639ec2352edbf8 3 | AssemblyDefinitionImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c94b7cde4e64747c9b754542d16dd19b 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/CHANGELOG.md: -------------------------------------------------------------------------------- 1 | # Changelog 2 | 3 | All notable changes to this project will be documented in this file. 4 | 5 | This log file is following the guideline of [keep a changelog](https://keepachangelog.com). 6 | 7 | ## [Unreleased] 8 | 9 | ## [0.1.1] - 2020-08-25 10 | 11 | ### Fixed 12 | - Fix run time error on Windows while loading AssimpNet 13 | 14 | ## [0.1.0] - 2019-11-19 15 | 16 | ### Added 17 | - AssimpNet and MeshImporter.cs script are separated as a unity package from [UnityMeshImportExample](https://github.com/eastskykang/UnityMeshImportExample). -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/CHANGELOG.md.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5a71f6825a375402a9488a50b749c418 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/LICENSE.md.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 14949cc049c7b4671a5d5f021e1d172a 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/MeshImporter.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 883562d2ef2c94d30b6ce33456bc7145 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a4ba1a052f6c74efe8a05f60e0b3138b 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 27775b1162909d08e9228746a682ba17 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/AssimpNet.dll: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/URDF-Importer/90f353e4352aae4df52fa2c05e49b804631d2a63/com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/AssimpNet.dll -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/AssimpNet.dll.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5e8964cf498e14a429ddf7f32dede07f 3 | PluginImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | iconMap: {} 7 | executionOrder: {} 8 | defineConstraints: [] 9 | isPreloaded: 0 10 | isOverridable: 0 11 | isExplicitlyReferenced: 0 12 | validateReferences: 1 13 | platformData: 14 | - first: 15 | Any: 16 | second: 17 | enabled: 1 18 | settings: {} 19 | - first: 20 | Editor: Editor 21 | second: 22 | enabled: 0 23 | settings: 24 | DefaultValueInitialized: true 25 | - first: 26 | Windows Store Apps: WindowsStoreApps 27 | second: 28 | enabled: 0 29 | settings: 30 | CPU: AnyCPU 31 | userData: 32 | assetBundleName: 33 | assetBundleVariant: 34 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/AssimpNet.xml.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: bf20410c5528b5effb47aa6ce5b91b34 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/AssimpUnity.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0f39c280efb2ff64a8ffcbc2f82eb36d 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/License_AssimpNet.txt.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 90a42d32c0d29b10888a524997ab18b5 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/Native.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 083592de0bdd12b0194c227ec9870c6b 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/Native/linux.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e9b8a761a8074e9b9f0b809915f1a4d0 3 | timeCreated: 1573927295 -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/Native/linux/x86_64.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 82aa8ee830494e518c0947e79e9b0331 3 | timeCreated: 1573927295 -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/Native/linux/x86_64/libassimp.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/URDF-Importer/90f353e4352aae4df52fa2c05e49b804631d2a63/com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/Native/linux/x86_64/libassimp.so -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/Native/linux/x86_64/libassimp.so.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4f43cb8a4e94a5140adc64d0818fbb45 3 | PluginImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | iconMap: {} 7 | executionOrder: {} 8 | defineConstraints: [] 9 | isPreloaded: 0 10 | isOverridable: 0 11 | isExplicitlyReferenced: 0 12 | validateReferences: 1 13 | platformData: 14 | - first: 15 | : Any 16 | second: 17 | enabled: 0 18 | settings: 19 | Exclude Editor: 0 20 | Exclude Linux: 1 21 | Exclude Linux64: 0 22 | Exclude LinuxUniversal: 0 23 | Exclude OSXUniversal: 1 24 | Exclude Win: 0 25 | Exclude Win64: 0 26 | - first: 27 | Any: 28 | second: 29 | enabled: 1 30 | settings: {} 31 | - first: 32 | Editor: Editor 33 | second: 34 | enabled: 1 35 | settings: 36 | CPU: x86_64 37 | DefaultValueInitialized: true 38 | OS: Linux 39 | - first: 40 | Facebook: Win 41 | second: 42 | enabled: 0 43 | settings: 44 | CPU: AnyCPU 45 | - first: 46 | Facebook: Win64 47 | second: 48 | enabled: 0 49 | settings: 50 | CPU: AnyCPU 51 | - first: 52 | Standalone: Linux 53 | second: 54 | enabled: 0 55 | settings: 56 | CPU: None 57 | - first: 58 | Standalone: Linux64 59 | second: 60 | enabled: 1 61 | settings: 62 | CPU: AnyCPU 63 | - first: 64 | Standalone: LinuxUniversal 65 | second: 66 | enabled: 1 67 | settings: 68 | CPU: x86_64 69 | - first: 70 | Standalone: OSXUniversal 71 | second: 72 | enabled: 0 73 | settings: 74 | CPU: None 75 | - 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first: 15 | '': Any 16 | second: 17 | enabled: 0 18 | settings: 19 | Exclude Editor: 0 20 | Exclude Linux: 1 21 | Exclude Linux64: 1 22 | Exclude LinuxUniversal: 1 23 | Exclude OSXUniversal: 0 24 | Exclude Win: 1 25 | Exclude Win64: 1 26 | - first: 27 | '': OSXIntel 28 | second: 29 | enabled: 1 30 | settings: {} 31 | - first: 32 | '': OSXIntel64 33 | second: 34 | enabled: 1 35 | settings: {} 36 | - first: 37 | Any: 38 | second: 39 | enabled: 0 40 | settings: {} 41 | - first: 42 | Editor: Editor 43 | second: 44 | enabled: 1 45 | settings: 46 | CPU: x86_64 47 | DefaultValueInitialized: true 48 | OS: OSX 49 | - first: 50 | Facebook: Win 51 | second: 52 | enabled: 0 53 | settings: 54 | CPU: AnyCPU 55 | - first: 56 | Facebook: Win64 57 | second: 58 | enabled: 0 59 | settings: 60 | CPU: AnyCPU 61 | - first: 62 | Standalone: Linux 63 | second: 64 | enabled: 0 65 | settings: 66 | CPU: x86 67 | - first: 68 | Standalone: Linux64 69 | second: 70 | enabled: 0 71 | settings: 72 | CPU: AnyCPU 73 | - first: 74 | Standalone: OSXUniversal 75 | second: 76 | enabled: 1 77 | settings: 78 | CPU: AnyCPU 79 | - first: 80 | Standalone: Win 81 | second: 82 | enabled: 0 83 | settings: 84 | CPU: AnyCPU 85 | - first: 86 | Standalone: Win64 87 | second: 88 | enabled: 0 89 | settings: 90 | CPU: AnyCPU 91 | userData: 92 | assetBundleName: 93 | assetBundleVariant: 94 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/Native/win.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7852d4bf24254e3db38f40ea9f83bc39 3 | timeCreated: 1573927295 -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/Native/win/x86.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e43414ef40f84218b8ea04b8bf530c0f 3 | timeCreated: 1573927295 -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/Native/win/x86/assimp.dll: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/URDF-Importer/90f353e4352aae4df52fa2c05e49b804631d2a63/com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/Native/win/x86/assimp.dll -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/Native/win/x86/assimp.dll.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 727564d2feef3504f9043498e07c7d58 3 | PluginImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | iconMap: {} 7 | executionOrder: {} 8 | defineConstraints: [] 9 | isPreloaded: 0 10 | isOverridable: 0 11 | isExplicitlyReferenced: 0 12 | validateReferences: 1 13 | platformData: 14 | - first: 15 | : Any 16 | second: 17 | enabled: 0 18 | settings: 19 | Exclude Editor: 0 20 | Exclude Linux: 0 21 | Exclude Linux64: 0 22 | Exclude LinuxUniversal: 0 23 | Exclude OSXUniversal: 0 24 | Exclude Win: 0 25 | Exclude Win64: 1 26 | - first: 27 | Any: 28 | second: 29 | enabled: 1 30 | settings: {} 31 | - first: 32 | Editor: Editor 33 | second: 34 | enabled: 1 35 | settings: 36 | CPU: x86 37 | DefaultValueInitialized: true 38 | OS: Windows 39 | - first: 40 | Facebook: Win 41 | second: 42 | enabled: 0 43 | settings: 44 | CPU: AnyCPU 45 | - first: 46 | Facebook: Win64 47 | second: 48 | enabled: 0 49 | settings: 50 | CPU: None 51 | - first: 52 | Standalone: Linux 53 | second: 54 | enabled: 1 55 | settings: 56 | CPU: x86 57 | - first: 58 | Standalone: Linux64 59 | second: 60 | enabled: 1 61 | settings: 62 | CPU: AnyCPU 63 | - first: 64 | Standalone: LinuxUniversal 65 | second: 66 | enabled: 1 67 | settings: 68 | CPU: AnyCPU 69 | - first: 70 | Standalone: OSXUniversal 71 | second: 72 | enabled: 1 73 | settings: 74 | CPU: AnyCPU 75 | - first: 76 | Standalone: Win 77 | second: 78 | enabled: 1 79 | settings: 80 | CPU: AnyCPU 81 | - first: 82 | Standalone: Win64 83 | second: 84 | enabled: 0 85 | settings: 86 | CPU: None 87 | userData: 88 | assetBundleName: 89 | assetBundleVariant: 90 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/Native/win/x86_64.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 107925a43ec74bafb87a05439ca95adb 3 | timeCreated: 1573927295 -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/Native/win/x86_64/assimp.dll: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/URDF-Importer/90f353e4352aae4df52fa2c05e49b804631d2a63/com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/Native/win/x86_64/assimp.dll -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/Plugins/AssimpNet/Native/win/x86_64/assimp.dll.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 873e56492b7077f4381de09ccca3abb1 3 | PluginImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | iconMap: {} 7 | executionOrder: {} 8 | defineConstraints: [] 9 | isPreloaded: 0 10 | isOverridable: 0 11 | isExplicitlyReferenced: 0 12 | validateReferences: 1 13 | platformData: 14 | - first: 15 | : Any 16 | second: 17 | enabled: 0 18 | settings: 19 | Exclude Editor: 0 20 | Exclude Linux: 0 21 | Exclude Linux64: 0 22 | Exclude LinuxUniversal: 0 23 | Exclude OSXUniversal: 0 24 | Exclude Win: 1 25 | Exclude Win64: 0 26 | Exclude WindowsStoreApps: 0 27 | - first: 28 | Any: 29 | second: 30 | enabled: 1 31 | settings: {} 32 | - first: 33 | Editor: Editor 34 | second: 35 | enabled: 1 36 | settings: 37 | CPU: x86_64 38 | DefaultValueInitialized: true 39 | OS: Windows 40 | - first: 41 | Facebook: Win 42 | second: 43 | enabled: 0 44 | settings: 45 | CPU: None 46 | - first: 47 | Facebook: Win64 48 | second: 49 | enabled: 0 50 | settings: 51 | CPU: AnyCPU 52 | - first: 53 | Standalone: Linux 54 | second: 55 | enabled: 1 56 | settings: 57 | CPU: x86 58 | - first: 59 | Standalone: Linux64 60 | second: 61 | enabled: 1 62 | settings: 63 | CPU: AnyCPU 64 | - first: 65 | Standalone: LinuxUniversal 66 | second: 67 | enabled: 1 68 | settings: 69 | CPU: AnyCPU 70 | - first: 71 | Standalone: OSXUniversal 72 | second: 73 | enabled: 1 74 | settings: 75 | CPU: AnyCPU 76 | - first: 77 | Standalone: Win 78 | second: 79 | enabled: 0 80 | settings: 81 | CPU: None 82 | - first: 83 | Standalone: Win64 84 | second: 85 | enabled: 1 86 | settings: 87 | CPU: AnyCPU 88 | - first: 89 | Windows Store Apps: WindowsStoreApps 90 | second: 91 | enabled: 1 92 | settings: 93 | CPU: X64 94 | DontProcess: false 95 | PlaceholderPath: 96 | SDK: AnySDK 97 | ScriptingBackend: AnyScriptingBackend 98 | userData: 99 | assetBundleName: 100 | assetBundleVariant: 101 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/README.md: -------------------------------------------------------------------------------- 1 | # UnityMeshImporter 2 | 3 | Runtime mesh importer for Unity using AssimpNet. This mesh importer creates UnityEngine.GameObject from mesh files. 4 | 5 | **Update**: Tested on Linux, macOS and Windows. 6 | 7 | ## What is Assimp? 8 | 9 | > Open Asset Import Library (Assimp) is a cross-platform 3D model import library which aims to provide a common application programming interface (API) for different 3D asset file formats. 10 | > Written in C++, it offers interfaces for both C and C++. 11 | > Bindings to other languages (e.g., BlitzMax, C#, Python) are developed as part of the project or are available elsewhere. 12 | > 13 | > By Wikipedia 14 | 15 | This project uses C# .NET wrapper for the Assimp, [AssimpNet](https://bitbucket.org/Starnick/assimpnet/src/master/) 16 | 17 | Supported file formates are listed [here](http://assimp.sourceforge.net/main_features_formats.html). 18 | 19 | ## Quickstart 20 | 21 | Before you start, you may need to install minizip package by 22 | 23 | ```sh 24 | $ sudo apt install minizip 25 | ``` 26 | 27 | 1. Install "com.donghok.meshimporter" package as follows: 28 | In the Packages directory of your Unity project, 29 | ```sh 30 | $ git clone https://github.com/eastskykang/UnityMeshImporter.git com.donghok.meshimporter 31 | ``` 32 | 33 | or 34 | 35 | Open ```Packages/manifest.json``` and add ```"com.donghok.meshimporter":"https://github.com/eastskykang/UnityMeshImporter.git"``` to the "dependencies" list. 36 | 37 | 2. As the package is imported, you can use UnityMeshImporter as follows: 38 | 39 | ```cs 40 | using UnityMeshImporter; 41 | 42 | string meshFile = ; 43 | var ob = MeshImporter.Load(meshFile); 44 | ``` 45 | 46 | 3. The mesh importer uses Unity "Standard" shader. Please add Standard shader to ```Project Settings > Graphics > Built-in Shader Settings > Always Included Shaders```. 47 | 48 | ## Unity Example 49 | 50 | See the following examples: 51 | 52 | - [UnityMeshImportExample](https://github.com/eastskykang/UnityMeshImportExample) 53 | - [RaiSimUnity](https://github.com/leggedrobotics/RaiSimUnity) 54 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UnityMeshImporter/README.md.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4571e5c64a3394217bc50298c1990041 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 1e9969200082c534ab0a6caa089bd5a6 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/CollisionIgnore.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | namespace Unity.Robotics.UrdfImporter 6 | { 7 | [System.Serializable] 8 | public class CollisionIgnore { 9 | public Transform Link1; 10 | public Transform Link2; 11 | 12 | public CollisionIgnore(Transform l1, Transform l2) 13 | { 14 | Link1 = l1; 15 | Link2 = l2; 16 | } 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/CollisionIgnore.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0ea35df4c292b4fc0ad103d58ac9eaf3 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/ImportSettings.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | namespace Unity.Robotics.UrdfImporter 6 | { 7 | public class ImportSettings 8 | { 9 | public enum axisType 10 | { 11 | yAxis, 12 | zAxis, 13 | } 14 | 15 | public enum convexDecomposer 16 | { 17 | unity, 18 | vHACD, 19 | } 20 | 21 | public axisType chosenAxis = axisType.yAxis; 22 | public convexDecomposer convexMethod = convexDecomposer.vHACD; 23 | 24 | public bool OverwriteExistingPrefabs { get; set; } = false; 25 | 26 | public int linksLoaded = 0; 27 | public int totalLinks = 0; 28 | 29 | static public ImportSettings DefaultSettings() 30 | { 31 | return new ImportSettings(); 32 | } 33 | } 34 | } 35 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/ImportSettings.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7332922ccc899435089a6f3d52c4bf1f 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfCollision.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using UnityEngine; 16 | 17 | namespace Unity.Robotics.UrdfImporter 18 | { 19 | [SelectionBase] 20 | public class UrdfCollision : MonoBehaviour 21 | { 22 | [SerializeField] 23 | public GeometryTypes geometryType; 24 | 25 | } 26 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfCollision.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 1c0c8ba1123c5f949b20e50d5dd6afe4 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfCollisions.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using UnityEngine; 16 | 17 | namespace Unity.Robotics.UrdfImporter 18 | { 19 | public class UrdfCollisions : MonoBehaviour 20 | { 21 | } 22 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfCollisions.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 46398bc5d6905ad429a6d2d973afe002 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfComparator.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 90217f77098f04442bee1529e6919452 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfInertial.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7631001c063f69d4495bca90731abab2 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: caef1eccc4ef92342aff03c313f8772f 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJoint.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 94ba922549128684c9c569471c662850 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointContinuous.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5b6e27abb4aa1a64bbcf79a845601047 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointFixed.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using UnityEngine; 16 | 17 | namespace Unity.Robotics.UrdfImporter 18 | { 19 | public class UrdfJointFixed : UrdfJoint 20 | { 21 | public override JointTypes JointType => JointTypes.Fixed; 22 | 23 | public static UrdfJoint Create(GameObject linkObject) 24 | { 25 | UrdfJointFixed urdfJoint = linkObject.AddComponent(); 26 | #if UNITY_2020_1_OR_NEWER 27 | urdfJoint.unityJoint = linkObject.GetComponent(); 28 | #else 29 | urdfJoint.UnityJoint = linkObject.AddComponent(); 30 | urdfJoint.UnityJoint.autoConfigureConnectedAnchor = true; 31 | #endif 32 | 33 | return urdfJoint; 34 | } 35 | 36 | protected override bool IsJointAxisDefined() 37 | { 38 | return true; //Axis isn't used 39 | } 40 | } 41 | } 42 | 43 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointFixed.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 074632cab556f5b408839af8574308df 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointFloating.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using UnityEngine; 16 | 17 | namespace Unity.Robotics.UrdfImporter 18 | { 19 | public class UrdfJointFloating : UrdfJoint 20 | { 21 | public override JointTypes JointType => JointTypes.Floating; 22 | 23 | public static UrdfJoint Create(GameObject linkObject) 24 | { 25 | UrdfJointFloating urdfJoint = linkObject.AddComponent(); 26 | #if UNITY_2020_1_OR_NEWER 27 | urdfJoint.unityJoint = linkObject.AddComponent(); 28 | //Doesnt have any equivalent Articulatiob Joint 29 | #else 30 | urdfJoint.UnityJoint = linkObject.AddComponent(); 31 | #endif 32 | return urdfJoint; 33 | } 34 | 35 | #region Runtime 36 | 37 | public override float GetPosition() 38 | { 39 | #if UNITY_2020_1_OR_NEWER 40 | Debug.Log("'ArticulationBody' does not contain a definition for 'connectedAnchor' and no accessible extension method 'connectedAnchor'"); 41 | Vector3 distanceFromAnchor = ((ArticulationBody)unityJoint).transform.localPosition ;/*- 42 | ((ArticulationBody)UnityJoint).connectedAnchor;*/ 43 | #else 44 | Vector3 distanceFromAnchor = ((ConfigurableJoint)UnityJoint).transform.localPosition - 45 | ((ConfigurableJoint)UnityJoint).connectedAnchor; 46 | #endif 47 | return distanceFromAnchor.magnitude; 48 | } 49 | 50 | #endregion 51 | 52 | protected override bool IsJointAxisDefined() 53 | { 54 | return true; //Axis isn't used 55 | } 56 | } 57 | } 58 | 59 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointFloating.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d7e5edcd03b4c4040bc550e77e4028b0 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointPlanar.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: acce561d2a005d848ac314822ae51192 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointPrismatic.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c2739b11a8980aa48b52271bc429c745 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointRevolute.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 63b6193734b4c8444bcfdf4e9953fe2b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfLink.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using UnityEngine; 16 | 17 | namespace Unity.Robotics.UrdfImporter 18 | { 19 | public class UrdfLink : MonoBehaviour 20 | { 21 | public bool IsBaseLink; 22 | } 23 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfLink.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fba5fd74d37a6cf4284698624eb8f6aa 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfOrigin.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f64152e2bbda97a4399862faf81b51dd 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfPlugin.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using System.Xml; 16 | using UnityEngine; 17 | 18 | namespace Unity.Robotics.UrdfImporter 19 | { 20 | public class UrdfPlugin : MonoBehaviour 21 | { 22 | [TextArea(maxLines: 8, minLines: 4)] 23 | public string PluginText; 24 | 25 | public static void Create(Transform parent, Plugin plugin = null) 26 | { 27 | UrdfPlugin urdfPlugin = parent.gameObject.AddComponent(); 28 | if (plugin != null) 29 | urdfPlugin.PluginText = plugin.text; 30 | } 31 | 32 | public Plugin ExportPluginData() 33 | { 34 | if (PluginText == null || PluginText == "") return null; 35 | 36 | try 37 | { 38 | XmlDocument xDoc = new XmlDocument(); 39 | xDoc.LoadXml(PluginText); 40 | 41 | return new Plugin(PluginText); 42 | } 43 | catch (XmlException e) 44 | { 45 | Debug.LogWarning("UrdfPlugin contains invalid XML. The contents of this plugin will not be " + 46 | "written to the URDF file.\nXML Error: " + e.Message, this); 47 | return null; 48 | } 49 | } 50 | } 51 | } 52 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfPlugin.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 76add797bdb1d8c4b8276633f6e67167 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfPlugins.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using System.Collections.Generic; 16 | using System.Linq; 17 | using UnityEngine; 18 | 19 | namespace Unity.Robotics.UrdfImporter 20 | { 21 | public class UrdfPlugins : MonoBehaviour 22 | { 23 | public static void Create(Transform robot, List plugins = null) 24 | { 25 | GameObject pluginsObject = new GameObject("Plugins"); 26 | pluginsObject.transform.SetParentAndAlign(robot); 27 | pluginsObject.AddComponent(); 28 | 29 | if (plugins == null) return; 30 | 31 | foreach (var plugin in plugins) 32 | UrdfPlugin.Create(pluginsObject.transform, plugin); 33 | } 34 | 35 | public List ExportPluginsData() 36 | { 37 | return GetComponents() 38 | .Select(urdfPlugin => urdfPlugin.ExportPluginData()) 39 | .Where(plugin => plugin != null) 40 | .ToList(); 41 | } 42 | } 43 | 44 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfPlugins.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fae53a797b5479c43b9a3aeac7e35e5c 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfRobot.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fbf4c79288754864b8d522b69f4b52a8 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfVisual.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using UnityEngine; 16 | 17 | namespace Unity.Robotics.UrdfImporter 18 | { 19 | [SelectionBase] 20 | public class UrdfVisual : MonoBehaviour 21 | { 22 | [SerializeField] 23 | public GeometryTypes geometryType; 24 | } 25 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfVisual.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8b2685e7e7719cd43814f41f35664c0b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfVisuals.cs: -------------------------------------------------------------------------------- 1 | /* 2 | © Siemens AG, 2018 3 | Author: Suzannah Smith (suzannah.smith@siemens.com) 4 | Licensed under the Apache License, Version 2.0 (the "License"); 5 | you may not use this file except in compliance with the License. 6 | You may obtain a copy of the License at 7 | . 8 | Unless required by applicable law or agreed to in writing, software 9 | distributed under the License is distributed on an "AS IS" BASIS, 10 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 11 | See the License for the specific language governing permissions and 12 | limitations under the License. 13 | */ 14 | 15 | using UnityEngine; 16 | 17 | namespace Unity.Robotics.UrdfImporter 18 | { 19 | public class UrdfVisuals : MonoBehaviour 20 | { 21 | } 22 | } 23 | 24 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfVisuals.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e9090ae501ff9cd459bec5271d40249c 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/VHACD.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fe4834ab1a2100847a5ccfadc5774c3e 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/VHACD/.editorconfig: -------------------------------------------------------------------------------- 1 | [*.{kt, kts}] 2 | insert_final_newline = true 3 | indent_style = space 4 | indent_size = 4 5 | trim_trailing_whitespace = true 6 | 7 | # because of feature in intellij, where java and kotlin imports end up as last items 8 | # https://github.com/pinterest/ktlint/issues/527 9 | disabled_rules = import-ordering 10 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/VHACD/.gitignore: -------------------------------------------------------------------------------- 1 | # This .gitignore file should be placed at the root of your Unity project directory 2 | # 3 | # Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore 4 | # 5 | /[Ll]ibrary/ 6 | /[Tt]emp/ 7 | /[Oo]bj/ 8 | /[Bb]uild/ 9 | /[Bb]uilds/ 10 | /[Ll]ogs/ 11 | /[Uu]ser[Ss]ettings/ 12 | 13 | # MemoryCaptures can get excessive in size. 14 | # They also could contain extremely sensitive data 15 | /[Mm]emoryCaptures/ 16 | 17 | # Uncomment this line if you wish to ignore the asset store tools plugin 18 | # /[Aa]ssets/AssetStoreTools* 19 | 20 | # Autogenerated Jetbrains Rider plugin 21 | /[Aa]ssets/Plugins/Editor/JetBrains* 22 | 23 | # Visual Studio cache directory 24 | .vs/ 25 | 26 | .DS_Store 27 | 28 | # Gradle cache directory 29 | .gradle/ 30 | 31 | # Autogenerated VS/MD/Consulo solution and project files 32 | ExportedObj/ 33 | .consulo/ 34 | *.csproj 35 | *.unityproj 36 | *.sln 37 | *.suo 38 | *.tmp 39 | *.user 40 | *.userprefs 41 | *.pidb 42 | *.booproj 43 | *.svd 44 | *.pdb 45 | *.mdb 46 | *.opendb 47 | *.VC.db 48 | 49 | # Unity3D generated meta files 50 | *.pidb.meta 51 | *.pdb.meta 52 | *.mdb.meta 53 | 54 | # Unity3D generated file on crash reports 55 | sysinfo.txt 56 | 57 | # Builds 58 | *.apk 59 | *.aab 60 | *.unitypackage 61 | 62 | # Crashlytics generated file 63 | crashlytics-build.properties 64 | 65 | # Packed Addressables 66 | /[Aa]ssets/[Aa]ddressable[Aa]ssets[Dd]ata/*/*.bin* 67 | 68 | # Temporary auto-generated Android Assets 69 | /[Aa]ssets/[Ss]treamingAssets/aa.meta 70 | /[Aa]ssets/[Ss]treamingAssets/aa/* 71 | 72 | .DS_Store 73 | 74 | #Example URDF folder 75 | TestModel/ 76 | 77 | # Build and Deploy 78 | deploy/* 79 | .DS_Store 80 | .DS_Store 81 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/VHACD/LICENSE.MD: -------------------------------------------------------------------------------- 1 | BSD 3-Clause License 2 | 3 | Copyright (c) 2011, Khaled Mamou (kmamou at gmail dot com) 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are met: 8 | 9 | 1. Redistributions of source code must retain the above copyright notice, this 10 | list of conditions and the following disclaimer. 11 | 12 | 2. Redistributions in binary form must reproduce the above copyright notice, 13 | this list of conditions and the following disclaimer in the documentation 14 | and/or other materials provided with the distribution. 15 | 16 | 3. Neither the name of the copyright holder nor the names of its 17 | contributors may be used to endorse or promote products derived from 18 | this software without specific prior written permission. 19 | 20 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 21 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 22 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 23 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 24 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 25 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 26 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 27 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 28 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 29 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/VHACD/LICENSE.MD.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 69b853fc8138a3f468ca5e7798442656 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/VHACD/README.md.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 022e2bf9bcd6a7b43a75571e48ae13c3 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/VHACD/VHACD.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7dd8cf483366b4d98864b7d7c9648e80 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/VHACD/liblibvhacd.dylib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/URDF-Importer/90f353e4352aae4df52fa2c05e49b804631d2a63/com.unity.robotics.urdf-importer/Runtime/VHACD/liblibvhacd.dylib -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/VHACD/liblibvhacd.dylib.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ebe36a8812809424591718256496aa00 3 | PluginImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | iconMap: {} 7 | executionOrder: {} 8 | defineConstraints: [] 9 | isPreloaded: 0 10 | isOverridable: 0 11 | isExplicitlyReferenced: 0 12 | validateReferences: 1 13 | platformData: 14 | - first: 15 | Any: 16 | second: 17 | enabled: 0 18 | settings: {} 19 | - first: 20 | Editor: Editor 21 | second: 22 | enabled: 1 23 | settings: 24 | DefaultValueInitialized: true 25 | - first: 26 | Standalone: OSXUniversal 27 | second: 28 | enabled: 1 29 | settings: {} 30 | userData: 31 | assetBundleName: 32 | assetBundleVariant: 33 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/VHACD/liblibvhacd.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/URDF-Importer/90f353e4352aae4df52fa2c05e49b804631d2a63/com.unity.robotics.urdf-importer/Runtime/VHACD/liblibvhacd.so -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/VHACD/liblibvhacd.so.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 93026905049f20e40b08aa302b05678b 3 | PluginImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | iconMap: {} 7 | executionOrder: {} 8 | defineConstraints: [] 9 | isPreloaded: 0 10 | isOverridable: 0 11 | isExplicitlyReferenced: 0 12 | validateReferences: 1 13 | platformData: 14 | - first: 15 | : Any 16 | second: 17 | enabled: 0 18 | settings: 19 | Exclude Editor: 0 20 | Exclude Linux64: 0 21 | Exclude OSXUniversal: 1 22 | Exclude WebGL: 1 23 | Exclude Win: 1 24 | Exclude Win64: 1 25 | Exclude WindowsStoreApps: 1 26 | - first: 27 | Any: 28 | second: 29 | enabled: 0 30 | settings: {} 31 | - first: 32 | Editor: Editor 33 | second: 34 | enabled: 1 35 | settings: 36 | CPU: x86_64 37 | DefaultValueInitialized: true 38 | OS: Linux 39 | - first: 40 | Standalone: Linux64 41 | second: 42 | enabled: 1 43 | settings: 44 | CPU: AnyCPU 45 | - first: 46 | Standalone: OSXUniversal 47 | second: 48 | enabled: 0 49 | settings: 50 | CPU: None 51 | - first: 52 | Standalone: Win 53 | second: 54 | enabled: 0 55 | settings: 56 | CPU: AnyCPU 57 | - first: 58 | Standalone: Win64 59 | second: 60 | enabled: 0 61 | settings: 62 | CPU: AnyCPU 63 | - first: 64 | WebGL: WebGL 65 | second: 66 | enabled: 0 67 | settings: {} 68 | - first: 69 | Windows Store Apps: WindowsStoreApps 70 | second: 71 | enabled: 0 72 | settings: 73 | CPU: X86 74 | DontProcess: true 75 | PlaceholderPath: 76 | SDK: AnySDK 77 | ScriptingBackend: AnyScriptingBackend 78 | userData: 79 | assetBundleName: 80 | assetBundleVariant: 81 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/VHACD/libvhacd.dll: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/URDF-Importer/90f353e4352aae4df52fa2c05e49b804631d2a63/com.unity.robotics.urdf-importer/Runtime/VHACD/libvhacd.dll -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/VHACD/libvhacd.dll.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f3f2df8dfc55d564b80e720ba5acdfd5 3 | PluginImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | iconMap: {} 7 | executionOrder: {} 8 | defineConstraints: [] 9 | isPreloaded: 0 10 | isOverridable: 0 11 | isExplicitlyReferenced: 0 12 | validateReferences: 1 13 | platformData: 14 | - first: 15 | : Any 16 | second: 17 | enabled: 0 18 | settings: 19 | Exclude Editor: 0 20 | Exclude Linux64: 0 21 | Exclude OSXUniversal: 0 22 | Exclude WebGL: 1 23 | Exclude Win: 1 24 | Exclude Win64: 0 25 | Exclude WindowsStoreApps: 1 26 | - first: 27 | Any: 28 | second: 29 | enabled: 0 30 | settings: {} 31 | - first: 32 | Editor: Editor 33 | second: 34 | enabled: 1 35 | settings: 36 | CPU: x86_64 37 | DefaultValueInitialized: true 38 | OS: Windows 39 | - first: 40 | Standalone: Linux64 41 | second: 42 | enabled: 1 43 | settings: 44 | CPU: AnyCPU 45 | - first: 46 | Standalone: OSXUniversal 47 | second: 48 | enabled: 1 49 | settings: 50 | CPU: AnyCPU 51 | - first: 52 | Standalone: Win 53 | second: 54 | enabled: 0 55 | settings: 56 | CPU: None 57 | - first: 58 | Standalone: Win64 59 | second: 60 | enabled: 1 61 | settings: 62 | CPU: AnyCPU 63 | - first: 64 | Windows Store Apps: WindowsStoreApps 65 | second: 66 | enabled: 0 67 | settings: 68 | CPU: X86 69 | DontProcess: false 70 | PlaceholderPath: 71 | SDK: AnySDK 72 | ScriptingBackend: AnyScriptingBackend 73 | userData: 74 | assetBundleName: 75 | assetBundleVariant: 76 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/VHACD/vhacd.asmdef: -------------------------------------------------------------------------------- 1 | { 2 | "name": "vhacd", 3 | "rootNamespace": "VHACD", 4 | "references": [], 5 | "includePlatforms": [ 6 | ], 7 | "excludePlatforms": [], 8 | "allowUnsafeCode": true, 9 | "overrideReferences": false, 10 | "precompiledReferences": [], 11 | "autoReferenced": true, 12 | "defineConstraints": [], 13 | "versionDefines": [], 14 | "noEngineReferences": false 15 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Runtime/VHACD/vhacd.asmdef.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 6a697808d7c80a549b57420070d6c4f3 3 | AssemblyDefinitionImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e91f2e885c58e4c919a3d88bdbe31c52 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Editor.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b52c3e0aa86e66a4087b5a0ba387c344 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Editor/PlayerBuildTests.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using NUnit.Framework; 4 | using UnityEditor; 5 | using UnityEditor.Build.Reporting; 6 | using UnityEditor.TestTools; 7 | using UnityEngine; 8 | using UnityEngine.TestTools; 9 | 10 | namespace BuildTests 11 | { 12 | public class PlayerBuilder 13 | { 14 | List m_EditorBuildSettingsScenes = new List(); 15 | BuildSummary m_Summary; 16 | string m_BuildPath = "Build"; 17 | 18 | [SetUp] 19 | public void SetUp() 20 | { 21 | } 22 | 23 | [UnityPlatform(RuntimePlatform.WindowsEditor)] 24 | [RequirePlatformSupport(BuildTarget.StandaloneWindows64)] 25 | [Test] 26 | public void BuildPlayerStandaloneWindows64() 27 | { 28 | BuildPlayer(BuildTargetGroup.Standalone, BuildTarget.StandaloneWindows64, m_BuildPath, BuildOptions.None, out _, out m_Summary); 29 | Assert.AreEqual(BuildResult.Succeeded, m_Summary.result, " BuildTarget.StandaloneWindows64 failed to build"); 30 | } 31 | 32 | [RequirePlatformSupport(BuildTarget.StandaloneLinux64)] 33 | [Test] 34 | public void BuildPlayerLinux() 35 | { 36 | BuildPlayer(BuildTargetGroup.Standalone, BuildTarget.StandaloneLinux64, m_BuildPath, BuildOptions.None, out _, out m_Summary); 37 | Assert.AreEqual(BuildResult.Succeeded, m_Summary.result, "BuildTarget.StandaloneLinux64 failed to build"); 38 | } 39 | 40 | [UnityPlatform(RuntimePlatform.OSXEditor)] 41 | [RequirePlatformSupport(BuildTarget.StandaloneOSX)] 42 | [Test] 43 | public void BuildPlayerOSX() 44 | { 45 | BuildPlayer(BuildTargetGroup.Standalone, BuildTarget.StandaloneOSX, m_BuildPath, BuildOptions.None, out _, out m_Summary); 46 | Assert.AreEqual(BuildResult.Succeeded, m_Summary.result, "BuildTarget.StandaloneLinux64 failed to build"); 47 | } 48 | 49 | void BuildPlayer(BuildTargetGroup buildTargetGroup, BuildTarget buildTarget, string buildOutputPath, BuildOptions buildOptions, 50 | out BuildReport buildReport, out BuildSummary buildSummary) 51 | { 52 | BuildPlayerOptions buildPlayerOptions = new BuildPlayerOptions(); 53 | buildPlayerOptions.locationPathName = buildOutputPath; 54 | buildPlayerOptions.target = buildTarget; 55 | buildPlayerOptions.options = buildOptions; 56 | buildPlayerOptions.targetGroup = buildTargetGroup; 57 | 58 | buildReport = BuildPipeline.BuildPlayer(buildPlayerOptions); 59 | buildSummary = buildReport.summary; 60 | } 61 | } 62 | } 63 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Editor/PlayerBuildTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c0e6fb92c2e93084dafb180cd5bed082 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Editor/Unity.Robotics.URDFImporter.Editor.Tests.asmdef: -------------------------------------------------------------------------------- 1 | { 2 | "name": "Unity.Robotics.UrdfImporter.Editor.Tests", 3 | "rootNamespace": "Unity.Robotics.EditorTests.URDFImporter", 4 | "references": [ 5 | "UnityEngine.TestRunner", 6 | "UnityEditor.TestRunner", 7 | "Unity.Robotics.UrdfImporter.Editor", 8 | "Unity.Robotics.UrdfImporter" 9 | ], 10 | "includePlatforms": [ 11 | "Editor" 12 | ], 13 | "excludePlatforms": [], 14 | "allowUnsafeCode": false, 15 | "overrideReferences": true, 16 | "precompiledReferences": [ 17 | "nunit.framework.dll" 18 | ], 19 | "autoReferenced": false, 20 | "defineConstraints": [ 21 | "UNITY_INCLUDE_TESTS" 22 | ], 23 | "versionDefines": [], 24 | "noEngineReferences": false 25 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Editor/Unity.Robotics.URDFImporter.Editor.Tests.asmdef.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3be7748790b779645965db4c56756cca 3 | AssemblyDefinitionImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- 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| 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/cube.urdf.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8f0011f984b89431a9e49096fd328d40 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/meshes.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b83b98efcfef340cba7c2982749429f1 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 6d0bc76be09264f4c9114dc872efd0cd 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/meshes/cube_0.asset.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ee05e433fe325470a91efbc6b9f9b45b 3 | NativeFormatImporter: 4 | externalObjects: {} 5 | mainObjectFileID: 0 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/Extensions.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a27876a99d7174e1e8d34f08819604f9 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/Extensions/BuiltInExtensionsTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 635c7051bee3c4c6b8ba23e0a8fe9059 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/Extensions/UrdfCollisionExtensionsTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4734056f85c9d4a32b73d72f1248eb62 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/Extensions/UrdfCollisionsExtensionsTests.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using NUnit.Framework; 5 | using UnityEngine; 6 | using UnityEditor; 7 | using UnityEngine.TestTools; 8 | using Unity.Robotics.UrdfImporter; 9 | using Object = UnityEngine.Object; 10 | using Collision = Unity.Robotics.UrdfImporter.Link.Collision; 11 | using Geometry = Unity.Robotics.UrdfImporter.Link.Geometry; 12 | using Box = Unity.Robotics.UrdfImporter.Link.Geometry.Box; 13 | 14 | namespace Unity.Robotics.UrdfImporter.Tests 15 | { 16 | public class UrdfCollisionsExtensionsTests 17 | { 18 | private static IEnumerable GeometryData 19 | { 20 | get 21 | { 22 | yield return new TestCaseData(new Geometry(box: new Box(new double[] {1, 1, 1}))); 23 | } 24 | } 25 | 26 | [Test] 27 | public void Create_NullCollisions_DefaultComponents() 28 | { 29 | var parent = new GameObject("Parent").transform; 30 | var collisions = UrdfCollisionsExtensions.Create(parent); 31 | Assert.IsNotNull(collisions); 32 | Assert.IsNotNull(collisions.GetComponent()); 33 | 34 | Object.DestroyImmediate(parent.gameObject); 35 | } 36 | 37 | [Test, TestCaseSource("GeometryData")] 38 | public void Create_WithCollisions_DefaultComponents(Geometry geometryBox) 39 | { 40 | var parent = new GameObject("Parent").transform; 41 | var collisions = UrdfCollisionsExtensions.Create(parent, new List() {new Collision(geometryBox)}); 42 | Assert.IsNotNull(collisions); 43 | Assert.IsTrue(parent.GetComponentsInChildren().Length > 0); 44 | 45 | Object.DestroyImmediate(parent.gameObject); 46 | } 47 | 48 | [Test, TestCaseSource("GeometryData")] 49 | public void ExportCollisionsData_DefaultGeometry_DefaultComponents(Geometry geometryBox) 50 | { 51 | var parent = new GameObject("Parent").transform; 52 | var collisions = UrdfCollisionsExtensions.Create(parent, new List() {new Collision(geometryBox)}); 53 | var urdfColl = collisions.GetComponent(); 54 | Assert.IsTrue(urdfColl.ExportCollisionsData().Count > 0); 55 | 56 | Object.DestroyImmediate(parent.gameObject); 57 | } 58 | } 59 | } 60 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/Extensions/UrdfCollisionsExtensionsTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8500689ef7ec24ffbabc82dc9ec0ff89 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/Extensions/UrdfGeometryCollisionTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e43314c00f437435ebc80f27ba220093 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/Extensions/UrdfGeometryTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 29cee578daf2e479e89654af6bb73a13 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/Extensions/UrdfRobotExtensionsTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 62735652de3eb42038cc032237104031 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/Math.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 707be80d38cfb4aa38b86c874ce8a59d 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/Math/Matrix3x3Tests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d822cac326bd14b3ea8362fc64fbd65f 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/MeshProcessing.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 44e0aa47ef2dc4cbeb4d7fb17999a225 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/MeshProcessing/StlAssetPostProcessorTests.cs: -------------------------------------------------------------------------------- 1 | using System.IO; 2 | using System.Collections.Generic; 3 | using NUnit.Framework; 4 | using UnityEditor; 5 | using UnityEngine; 6 | 7 | namespace Unity.Robotics.UrdfImporter.Tests 8 | { 9 | public class StlAssetPostProcessorTests 10 | { 11 | const string k_AssetRoot = "Assets/Tests/Runtime/StlAssetPostProcessorTests"; 12 | const string k_StlCubeSourcePath = "Packages/com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/meshes/cube.stl"; 13 | string m_StlCubeCopyPath; 14 | 15 | [SetUp] 16 | public void SetUp() 17 | { 18 | m_StlCubeCopyPath = k_AssetRoot + "/cube.stl"; 19 | RuntimeUrdf.SetRuntimeMode(false); 20 | Directory.CreateDirectory(k_AssetRoot); 21 | } 22 | 23 | [Test] 24 | public void StlPostprocess_NewStl_DontCreatePrefab() 25 | { 26 | // make a new copy of the stl file 27 | Assert.IsTrue(AssetDatabase.CopyAsset(k_StlCubeSourcePath, m_StlCubeCopyPath)); 28 | Assert.IsTrue(RuntimeUrdf.AssetExists(m_StlCubeCopyPath)); 29 | 30 | // make sure the .asset file is not automatically created 31 | var meshAssetPath = StlAssetPostProcessor.GetMeshAssetPath(m_StlCubeCopyPath, 0); 32 | Assert.IsFalse(RuntimeUrdf.AssetExists(meshAssetPath)); 33 | 34 | // make sure the .prefab file is not automatically created 35 | var prefabPath = StlAssetPostProcessor.GetPrefabAssetPath(m_StlCubeCopyPath); 36 | Assert.IsFalse(RuntimeUrdf.AssetExists(prefabPath)); 37 | 38 | // make sure the .asset and .prefab file are created when requested 39 | StlAssetPostProcessor.PostprocessStlFile(m_StlCubeCopyPath); 40 | Assert.IsTrue(RuntimeUrdf.AssetExists(meshAssetPath)); 41 | Assert.IsTrue(RuntimeUrdf.AssetExists(prefabPath)); 42 | } 43 | 44 | [TearDown] 45 | public void TearDown() 46 | { 47 | List outFailedPaths = new List(); 48 | AssetDatabase.DeleteAssets(new string[] {"Assets/Tests"}, outFailedPaths); 49 | } 50 | } 51 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/MeshProcessing/StlAssetPostProcessorTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0d226d856c98644969b886d1368d95d3 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/RuntimeImport.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 1587e9d72f6874e4a99d63a2287924da 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/RuntimeImport/RuntimeUrdfTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: abc5d374608a244ab9ba5b60264da894 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/SmokeTests.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using NUnit.Framework; 4 | using UnityEngine; 5 | using UnityEngine.TestTools; 6 | 7 | public class SmokeTests 8 | { 9 | // A Test behaves as an ordinary method 10 | [Test] 11 | public void SmokeTestsSimplePasses() 12 | { 13 | // Use the Assert class to test conditions 14 | } 15 | 16 | // A UnityTest behaves like a coroutine in Play Mode. In Edit Mode you can use 17 | // `yield return null;` to skip a frame. 18 | [UnityTest] 19 | public IEnumerator SmokeTestsWithEnumeratorPasses() 20 | { 21 | // Use the Assert class to test conditions. 22 | // Use yield to skip a frame. 23 | yield return null; 24 | } 25 | } 26 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/SmokeTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: dbad44dbde94dc945bb12a89d69b4473 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/Unity.Robotics.UrdfImporter.Runtime.Tests.asmdef: -------------------------------------------------------------------------------- 1 | { 2 | "name": "Unity.Robotics.UrdfImporter.Runtime.Tests", 3 | "rootNamespace": "", 4 | "references": [ 5 | "UnityEngine.TestRunner", 6 | "Unity.Robotics.UrdfImporter", 7 | "vhacd" 8 | ], 9 | "includePlatforms": [], 10 | "excludePlatforms": [], 11 | "allowUnsafeCode": false, 12 | "overrideReferences": true, 13 | "precompiledReferences": [ 14 | "nunit.framework.dll" 15 | ], 16 | "autoReferenced": false, 17 | "defineConstraints": [ 18 | "UNITY_INCLUDE_TESTS" 19 | ], 20 | "versionDefines": [ 21 | { 22 | "name": "com.unity.render-pipelines.universal", 23 | "expression": "", 24 | "define": "URP_PRESENT" 25 | }, 26 | { 27 | "name": "com.unity.render-pipelines.high-definition", 28 | "expression": "", 29 | "define": "HDRP_PRESENT" 30 | } 31 | ], 32 | "noEngineReferences": false 33 | } -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/Unity.Robotics.UrdfImporter.Runtime.Tests.asmdef.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: dcc5d40e9dbc4374b8e9b105e4494965 3 | AssemblyDefinitionImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/UrdfComponents.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9cabfcea601504584985dcc4ba57fbfc 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/UrdfComponents/UrdfJoints.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7cfc24d251afe4c928b6aa41eeb34068 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/UrdfComponents/UrdfJoints/UrdfJointContinuousTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 34983829b9e8741f7ba76cbd6a2d8c7b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/UrdfComponents/UrdfJoints/UrdfJointPlanarTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 6645ec71cc01a4b46bbb5c9e8d0cd5ca 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/UrdfComponents/UrdfJoints/UrdfJointPrismaticTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 59fc6d05172314d7795215f8344ee563 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/UrdfComponents/UrdfJoints/UrdfJointRevoluteTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d194117f597ac4744bd28f7369b5992e 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/UrdfComponents/UrdfJoints/UrdfJointTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: bd4dd5411e2ae4020b4aff713b89fd7d 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/VHACD.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 932d4ce61c1124d4fa38503fd5df1d93 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/VHACD/VHACDTests.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using NUnit.Framework; 4 | using UnityEngine; 5 | using UnityEngine.TestTools; 6 | using Unity.Robotics.UrdfImporter; 7 | using MeshProcess; 8 | 9 | public class VHACDTests 10 | { 11 | [Test] 12 | public void GenerateConvexMeshes_Cylinder_NullInput() 13 | { 14 | // Create primitive cylinder with VHACD 15 | GameObject geometryGameObject = new GameObject("Cylinder"); 16 | MeshFilter meshFilter = geometryGameObject.AddComponent(); 17 | Link.Geometry.Cylinder cylinder = new Link.Geometry.Cylinder(0.5, 2); //Default unity cylinder sizes 18 | meshFilter.sharedMesh = UrdfGeometry.CreateCylinderMesh(cylinder); 19 | 20 | GameObject go = meshFilter.gameObject; 21 | VHACD decomposer = go.AddComponent(); 22 | List colliderMeshes = decomposer.GenerateConvexMeshes(null); 23 | 24 | Assert.IsNotNull(meshFilter.sharedMesh); 25 | Assert.IsTrue(colliderMeshes.Count > 0); 26 | 27 | Component.DestroyImmediate(go.GetComponent()); 28 | Object.DestroyImmediate(go.GetComponent()); 29 | Object.DestroyImmediate(meshFilter); 30 | } 31 | 32 | [Test] 33 | public void GenerateConvexMeshes_Cylinder_MeshInput() 34 | { 35 | // Create primitive cylinder with VHACD 36 | GameObject geometryGameObject = new GameObject("Cylinder"); 37 | MeshFilter meshFilter = geometryGameObject.AddComponent(); 38 | Link.Geometry.Cylinder cylinder = new Link.Geometry.Cylinder(0.5, 2); //Default unity cylinder sizes 39 | meshFilter.sharedMesh = UrdfGeometry.CreateCylinderMesh(cylinder); 40 | 41 | GameObject go = meshFilter.gameObject; 42 | VHACD decomposer = go.AddComponent(); 43 | List colliderMeshes = decomposer.GenerateConvexMeshes(meshFilter.sharedMesh); 44 | 45 | Assert.IsNotNull(cylinder); 46 | Assert.IsNotNull(meshFilter.sharedMesh); 47 | Assert.IsTrue(colliderMeshes.Count > 0); 48 | 49 | Component.DestroyImmediate(go.GetComponent()); 50 | Object.DestroyImmediate(go.GetComponent()); 51 | Object.DestroyImmediate(meshFilter); 52 | } 53 | } 54 | -------------------------------------------------------------------------------- /com.unity.robotics.urdf-importer/Tests/Runtime/VHACD/VHACDTests.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 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