AIRO-0000 Don't merge

.gitmodules

@@ -0,0 +1,12 @@
+[submodule "TestUrdfImporter/Packages/URDF-Importer"]
+	path = TestUrdfImporter/Packages/URDF-Importer
+	url = https://github.com/Unity-Technologies/URDF-Importer.git
+[submodule "TestUrdfImporter/Packages/RoboticsSensors"]
+	path = TestUrdfImporter/Packages/RoboticsSensors
+	url = git@github.cds.internal.unity3d.com:unity/RoboticsSensors.git
+[submodule "TestUrdfImporter/Packages/ROS-TCP-Connector"]
+	path = TestUrdfImporter/Packages/ROS-TCP-Connector
+	url = https://github.com/Unity-Technologies/ROS-TCP-Connector
+[submodule "TestUrdfImporter/Packages/Mechatronics"]
+	path = TestUrdfImporter/Packages/Mechatronics
+	url = git@github.cds.internal.unity3d.com:unity/Mechatronics.git

.yamato/yamato-config.yml

@@ -22,9 +22,13 @@ commands:
 triggers:
     cancel_old_ci: true
     expression: |
-        ((pull_request.target eq "main" OR pull_request.target eq "dev")
-        AND NOT pull_request.push.changes.all match "**/*.md") OR
-        (push.branch eq "main" OR push.branch eq "dev")
+        (pull_request.target eq "main" AND
+        NOT pull_request.push.changes.all match "**/*.md") OR
+        (pull_request.target eq "dev" AND
+        NOT pull_request.push.changes.all match "**/*.md") OR
+        (pull_request.target eq "dev-sensors" AND
+        NOT pull_request.push.changes.all match "**/*.md")
+
 artifacts:
     logs:
         paths:

TestUrdfImporter/Packages/manifest.json

@@ -1,15 +1,14 @@
 {
   "dependencies": {
     "com.unity.collab-proxy": "1.5.7",
-    "com.unity.ide.rider": "2.0.7",
+    "com.unity.ide.rider": "3.0.6",
     "com.unity.ide.visualstudio": "2.0.8",
     "com.unity.ide.vscode": "1.2.3",
-    "com.unity.render-pipelines.universal": "10.5.0",
     "com.unity.robotics.urdf-importer": "file:../../com.unity.robotics.urdf-importer",
     "com.unity.test-framework": "1.1.24",
     "com.unity.testtools.codecoverage": "1.0.0",
     "com.unity.textmeshpro": "3.0.6",
-    "com.unity.timeline": "1.4.8",
+    "com.unity.timeline": "1.5.5",
     "com.unity.ugui": "1.0.0",
     "com.unity.modules.ai": "1.0.0",
     "com.unity.modules.androidjni": "1.0.0",

TestUrdfImporter/Packages/packages-lock.json

@@ -24,11 +24,11 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.ide.rider": {
-      "version": "2.0.7",
+      "version": "3.0.6",
       "depth": 0,
       "source": "registry",
       "dependencies": {
-        "com.unity.test-framework": "1.1.1"
+        "com.unity.ext.nunit": "1.0.6"
       },
       "url": "https://packages.unity.com"
     },
@@ -48,40 +48,13 @@
       "dependencies": {},
       "url": "https://packages.unity.com"
     },
-    "com.unity.mathematics": {
-      "version": "1.1.0",
-      "depth": 1,
-      "source": "registry",
-      "dependencies": {},
-      "url": "https://packages.unity.com"
-    },
     "com.unity.nuget.newtonsoft-json": {
       "version": "2.0.0",
       "depth": 1,
       "source": "registry",
       "dependencies": {},
       "url": "https://packages.unity.com"
     },
-    "com.unity.render-pipelines.core": {
-      "version": "10.5.0",
-      "depth": 1,
-      "source": "registry",
-      "dependencies": {
-        "com.unity.ugui": "1.0.0"
-      },
-      "url": "https://packages.unity.com"
-    },
-    "com.unity.render-pipelines.universal": {
-      "version": "10.5.0",
-      "depth": 0,
-      "source": "registry",
-      "dependencies": {
-        "com.unity.mathematics": "1.1.0",
-        "com.unity.render-pipelines.core": "10.5.0",
-        "com.unity.shadergraph": "10.5.0"
-      },
-      "url": "https://packages.unity.com"
-    },
     "com.unity.robotics.urdf-importer": {
       "version": "file:../../com.unity.robotics.urdf-importer",
       "depth": 0,
@@ -90,30 +63,13 @@
         "com.unity.editorcoroutines": "1.0.0"
       }
     },
-    "com.unity.searcher": {
-      "version": "4.3.2",
-      "depth": 2,
-      "source": "registry",
-      "dependencies": {},
-      "url": "https://packages.unity.com"
-    },
     "com.unity.settings-manager": {
-      "version": "1.0.1",
+      "version": "1.0.3",
       "depth": 1,
       "source": "registry",
       "dependencies": {},
       "url": "https://packages.unity.com"
     },
-    "com.unity.shadergraph": {
-      "version": "10.5.0",
-      "depth": 1,
-      "source": "registry",
-      "dependencies": {
-        "com.unity.render-pipelines.core": "10.5.0",
-        "com.unity.searcher": "4.3.2"
-      },
-      "url": "https://packages.unity.com"
-    },
     "com.unity.test-framework": {
       "version": "1.1.24",
       "depth": 0,
@@ -145,7 +101,7 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.timeline": {
-      "version": "1.4.8",
+      "version": "1.5.5",
       "depth": 0,
       "source": "registry",
       "dependencies": {

TestUrdfImporter/ProjectSettings/Packages/com.unity.testtools.codecoverage/Settings.json

@@ -0,0 +1,7 @@
+{
+    "m_Name": "Settings",
+    "m_Path": "ProjectSettings/Packages/com.unity.testtools.codecoverage/Settings.json",
+    "m_Dictionary": {
+        "m_DictionaryValues": []
+    }
+}

TestUrdfImporter/ProjectSettings/ProjectSettings.asset

@@ -3,7 +3,7 @@
 --- !u!129 &1
 PlayerSettings:
   m_ObjectHideFlags: 0
-  serializedVersion: 21
+  serializedVersion: 22
   productGUID: 3f43b7478172b48c28d431d637aa5f82
   AndroidProfiler: 0
   AndroidFilterTouchesWhenObscured: 0
@@ -350,6 +350,7 @@ PlayerSettings:
   switchScreenResolutionBehavior: 2
   switchUseCPUProfiler: 0
   switchUseGOLDLinker: 0
+  switchLTOSetting: 0
   switchApplicationID: 0x01004b9000490000
   switchNSODependencies: 
   switchTitleNames_0: 
@@ -367,6 +368,7 @@ PlayerSettings:
   switchTitleNames_12: 
   switchTitleNames_13: 
   switchTitleNames_14: 
+  switchTitleNames_15: 
   switchPublisherNames_0: 
   switchPublisherNames_1: 
   switchPublisherNames_2: 
@@ -382,6 +384,7 @@ PlayerSettings:
   switchPublisherNames_12: 
   switchPublisherNames_13: 
   switchPublisherNames_14: 
+  switchPublisherNames_15: 
   switchIcons_0: {fileID: 0}
   switchIcons_1: {fileID: 0}
   switchIcons_2: {fileID: 0}
@@ -397,6 +400,7 @@ PlayerSettings:
   switchIcons_12: {fileID: 0}
   switchIcons_13: {fileID: 0}
   switchIcons_14: {fileID: 0}
+  switchIcons_15: {fileID: 0}
   switchSmallIcons_0: {fileID: 0}
   switchSmallIcons_1: {fileID: 0}
   switchSmallIcons_2: {fileID: 0}
@@ -412,6 +416,7 @@ PlayerSettings:
   switchSmallIcons_12: {fileID: 0}
   switchSmallIcons_13: {fileID: 0}
   switchSmallIcons_14: {fileID: 0}
+  switchSmallIcons_15: {fileID: 0}
   switchManualHTML: 
   switchAccessibleURLs: 
   switchLegalInformation: 
@@ -475,6 +480,8 @@ PlayerSettings:
   switchNetworkInterfaceManagerInitializeEnabled: 1
   switchPlayerConnectionEnabled: 1
   switchUseNewStyleFilepaths: 0
+  switchUseMicroSleepForYield: 1
+  switchMicroSleepForYieldTime: 25
   ps4NPAgeRating: 12
   ps4NPTitleSecret: 
   ps4NPTrophyPackPath: 
@@ -580,7 +587,8 @@ PlayerSettings:
   webGLLinkerTarget: 1
   webGLThreadsSupport: 0
   webGLDecompressionFallback: 0
-  scriptingDefineSymbols: {}
+  scriptingDefineSymbols:
+    1: UNITY_CCU;ALLOW_AUTHORING
   additionalCompilerArguments: {}
   platformArchitecture: {}
   scriptingBackend:
@@ -591,11 +599,11 @@ PlayerSettings:
   suppressCommonWarnings: 1
   allowUnsafeCode: 0
   useDeterministicCompilation: 1
-  useReferenceAssemblies: 1
   enableRoslynAnalyzers: 1
   additionalIl2CppArgs: 
   scriptingRuntimeVersion: 1
   gcIncremental: 1
+  assemblyVersionValidation: 1
   gcWBarrierValidation: 0
   apiCompatibilityLevelPerPlatform:
     Standalone: 3
@@ -645,6 +653,7 @@ PlayerSettings:
   XboxOneCapability: []
   XboxOneGameRating: {}
   XboxOneIsContentPackage: 0
+  XboxOneEnhancedXboxCompatibilityMode: 0
   XboxOneEnableGPUVariability: 1
   XboxOneSockets: {}
   XboxOneSplashScreen: {fileID: 0}

TestUrdfImporter/ProjectSettings/ProjectVersion.txt

@@ -1,2 +1,2 @@
-m_EditorVersion: 2020.3.11f1
-m_EditorVersionWithRevision: 2020.3.11f1 (99c7afb366b3)
+m_EditorVersion: 2021.1.9f1
+m_EditorVersionWithRevision: 2021.1.9f1 (7a790e367ab3)

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

@@ -160,11 +160,14 @@ private void UpdateDirection(int jointIndex)
         /// <param name="index">Index of the part in the Articulation chain</param>
         private void StoreJointColors(int index)
         {
-            Renderer[] materialLists = articulationChain[index].transform.GetChild(0).GetComponentsInChildren<Renderer>();
-            prevColor = new Color[materialLists.Length];
-            for (int counter = 0; counter < materialLists.Length; counter++)
-            {
-                prevColor[counter] = MaterialExtensions.GetMaterialColor(materialLists[counter]);
+            if (articulationChain.Length > 0)
+            {
+                Renderer[] materialLists = articulationChain[index].transform.GetChild(0).GetComponentsInChildren<Renderer>();
+                prevColor = new Color[materialLists.Length];
+                for (int counter = 0; counter < materialLists.Length; counter++)
+                {
+                    prevColor[counter] = MaterialExtensions.GetMaterialColor(materialLists[counter]);
+                }
             }
         }
 

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

@@ -23,8 +23,6 @@ public static GameObject Create(Transform parent, Link link = null, Joint joint
             GameObject linkObject = new GameObject("link");
             linkObject.transform.SetParentAndAlign(parent);
             UrdfLink urdfLink = linkObject.AddComponent<UrdfLink>();
-            UrdfCollisionsExtensions.Create(linkObject.transform, link?.collisions);
-            UrdfVisualsExtensions.Create(linkObject.transform, link?.visuals);
 
             if (link != null)
             {
@@ -37,6 +35,13 @@ public static GameObject Create(Transform parent, Link link = null, Joint joint
                 UnityEditor.EditorGUIUtility.PingObject(linkObject);
 #endif
             }
+
+
+            UrdfVisualsExtensions.Create(linkObject.transform, link?.visuals);
+            UrdfCollisionsExtensions.Create(linkObject.transform, link?.collisions);
+#if ROBOTICS_SENSORS
+            UrdfSensorsExtensions.Create(linkObject.transform, link?.sensors);
+#endif
 
             return linkObject;
         }
@@ -59,7 +64,10 @@ private static void ImportLinkData(this UrdfLink urdfLink, Link link, Joint join
                     UrdfJoint.Create(urdfLink.gameObject, UrdfJoint.GetJointType(joint.type), joint);
             }
             else if (joint != null)
+            {
+                UrdfInertial.Create(urdfLink.gameObject);
                 UrdfJoint.Create(urdfLink.gameObject, UrdfJoint.GetJointType(joint.type), joint);
+            }
 
         } 
 
@@ -72,10 +80,13 @@ public static Link ExportLinkData(this UrdfLink urdfLink)
             {
                 visuals = urdfLink.GetComponentInChildren<UrdfVisuals>().ExportVisualsData(),
                 collisions = urdfLink.GetComponentInChildren<UrdfCollisions>().ExportCollisionsData(),
+#if ROBOTICS_SENSORS
+                sensors = urdfLink.GetComponentInChildren<UrdfSensors>().ExportSensorsData(),
+#endif
                 inertial = urdfInertial == null ? null : urdfInertial.ExportInertialData()
             };
 
             return link;
         }
     }
-}
+}