Merge pull request #157 from Unity-Technologies/dev

Merge dev into main

Author: mrpropellers

.gitignore

@@ -1,4 +1,5 @@
 .DS_Store
+.swp
 .idea
 .vscode/
 tutorials/pick_and_place/PickAndPlaceProject/Packages/packages-lock.json

.yamato/yamato-config.yml

@@ -0,0 +1,30 @@
+name: Robotics Hub Tests
+agent:
+    type: Unity::VM
+    image: robotics/ci-ubuntu20:latest
+    flavor: i1.large
+variables:
+    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
+commands:
+    - git submodule update --init --recursive
+      # TODO: Fix this hack - our bokken image is missing a .NET dependency (System.CodeDom) without which causes compilation to fail
+    - rm ./tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.*
+      # This is another hack to ensure audio is disabled. Unity built-in audio fails to initialize in our Bokken image.
+    - "sed -i -e '/m_DisableAudio/ s/: .*/: 1/' ./tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/AudioManager.asset"
+    - python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
+    - unity-downloader-cli -u 2020.2.0b9 -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
+    - git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
+    - utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --editorTestsCategories MessageGeneration
+    - mkdir -p ./tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts && cp ./tutorials/pick_and_place/Scripts/*.cs ./tutorials/pick_and_place/PickAndPlaceProject/Assets
+    - utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --editorTestsCategories BuildTests
+triggers:
+    cancel_old_ci: true
+    expression: |
+        (pull_request.target eq "main"  AND
+        NOT pull_request.push.changes.all match ["**/*.md","**/*.jpg","**/*.jpeg","**/*.gif","**/*.pdf"]) OR
+        (push.branch eq "dev" AND
+        NOT push.changes.all match ["**/*.md","**/*.jpg","**/*.jpeg","**/*.gif","**/*.pdf"])
+artifacts:
+    logs:
+        paths:
+            - "test-results/**/*"

README.md

@@ -8,9 +8,7 @@ This is a central repository for tools, tutorials, resources, and documentation
 
 ## Introduction
 
-Simulation plays an important role in robotics development, and we’re here to ensure that roboticists can use Unity for these simulations. We have released our first set of tools to make it easier to use Unity with existing ROS-based workflows. Try out some of our samples below to get started quickly.
-
-For any questions or feedback, connect directly with the Robotics team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
+Simulation plays an important role in robotics development, and we’re here to ensure that roboticists can use Unity for these simulations. We're starting off with a set of tools to make it easier to use Unity with existing ROS-based workflows. Try out some of our samples below to get started quickly.
 
 ## Getting Started with Unity Robotics
 
@@ -19,23 +17,23 @@ For any questions or feedback, connect directly with the Robotics team at [unity
 | [Quick Installation Instructions](tutorials/quick_setup.md) | Brief steps on installing the Unity Robotics packages |
 | [Pick-and-Place Demo](tutorials/pick_and_place/README.md) | A complete end-to-end demonstration, including how to set up the Unity environment, how to import a robot from URDF, and how to set up two-way communication with ROS for control |
 | [ROS–Unity Integration](tutorials/ros_unity_integration/README.md) | A set of component-level tutorials showing how to set up communication between ROS and Unity |
-| [URDF Importer](tutorials/urdf_importer/urdf_tutorial.md) | Steps on using the Unity package for loading [URDF](http://wiki.ros.org/urdf) files (Unified Robot Description Format) | 
-| [Articulations Robot Demo](https://github.com/Unity-Technologies/articulations-robot-demo) | A robot simulation demonstrating Unity's new physics solver
+| [URDF Importer](tutorials/urdf_importer/urdf_tutorial.md) | Steps on using the Unity package for loading [URDF](http://wiki.ros.org/urdf) files | 
+| [Articulations Robot Demo](https://github.com/Unity-Technologies/articulations-robot-demo) | A robot simulation demonstrating Unity's new physics solver (no ROS dependency)
 
 
 ## Component Repos
 
-| Repo | Usage |
+| Repo | Functionality |
 |---|---|
 | [TCP Endpoint](https://github.com/Unity-Technologies/ROS-TCP-Endpoint) | ROS node for sending/receiving messages from Unity |
 | [TCP Connector](https://github.com/Unity-Technologies/ROS-TCP-Connector) | Unity package for sending/receiving messages from ROS |
-| [URDF Importer](https://github.com/Unity-Technologies/URDF-Importer) | Unity package for loading [URDF](http://wiki.ros.org/urdf) files (Unified Robot Description Format) |
+| [URDF Importer](https://github.com/Unity-Technologies/URDF-Importer) | Unity package for loading [URDF](http://wiki.ros.org/urdf) files |
+
 
----
 
 ## Additional Resources
 
-We have published a series of blog posts and talks that are relevant for Unity Robotics:
+### Blog Posts and Talks
 
 - (November 19, 2020) Robotics simulation in Unity is as easy as 1, 2, 3! [blog post](https://blogs.unity3d.com/2020/11/19/robotics-simulation-in-unity-is-as-easy-as-1-2-3/)
 - (November 12, 2020)
@@ -45,14 +43,27 @@ Announcing Unity Robotic Simulation [blog post](https://unity.com/solutions/auto
 - (May 20, 2020)
 Use articulation bodies to easily prototype industrial designs with realistic motion and behavior [blog post](https://blogs.unity3d.com/2020/05/20/use-articulation-bodies-to-easily-prototype-industrial-designs-with-realistic-motion-and-behavior/) 
 
-In addition to robot simulation, here are some additional, relevant Unity simulation products:
+### More from Unity
+
+- [Unity Industrial Simulation](https://unity.com/products/unity-simulation)
+- [Unity Computer Vision](https://unity.com/computer-vision)
 
-- Unity Industrial Simulation [site](https://unity.com/products/unity-simulation)
-- Training a performant object detection ML model on synthetic data using Unity Perception tools [blog post](https://blogs.unity3d.com/2020/09/17/training-a-performant-object-detection-ml-model-on-synthetic-data-using-unity-perception-tools/)
-  - Unity Perception [repository](https://github.com/Unity-Technologies/com.unity.perception)
+## Coming Soon - New Physics Features in Unity!
+Here’s a peek into what our Physics Team is hard at work on…
+
+- **Contact Modification API**. This API will allow users to define custom contact reactions, such as ignoring subsets of contact points, in order to help simulate holes, slippery surfaces, soft contacts, and more. [Read more about the new Contact Modification API](https://forum.unity.com/threads/experimental-contacts-modification-api.924809/).
+- **Wheel Collider shapes**. This feature will allow the user to specify the shape of the collider to be used for collision detection. Currently the collider shape is fixed to a cylinder, and collision detection is performed by casting a ray from the center of the cylinder. Custom shapes will improve the accuracy of simulating wheels over rough terrains, holes, etc. [Read more about Wheel Collider](https://docs.unity3d.com/Manual/class-WheelCollider.html).
+- **Collision detection modes exposed for ArticulationBody: discrete, sweep-based ccd, and speculative ccd**. New continuous collision detection (ccd) modes will ensure that fast-moving objects collide with objects, instead of tunneling or passing through those objects, which can happen in the default “discrete” mode. [Read more about continuous collision detection](https://docs.unity3d.com/Manual/ContinuousCollisionDetection.html).
+- **Force/Torque Sensor API**. This API will allow users to get the force and torque acting on an articulation body (useful for simulating a force/torque sensor!), as well as to get the motor torque applied by an articulation drive.
+- **Query primitives**. These simple, GameObject-less shapes allow for collision detection without requiring simulation (i.e., without calling Physics.Simulate). This feature will allow users to initialize objects in feasible locations, and can also be used for motion planning.
 
 ## FAQs
-- [FAQs](faq.md)
+[FAQs](faq.md)
+
+## Support
+For general questions, feedback, or feature requests, connect directly with the Robotics team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
+
+For bugs or other issues, please file a GitHub issue and the Robotics team will investigate the issue as soon as possible.
 
 ## License
 [Apache License 2.0](LICENSE)

tutorials/pick_and_place/3_pick_and_place.md

@@ -68,7 +68,7 @@ Steps covered in this tutorial includes invoking a motion planning service in RO
 
     > This is similar to the `SourceDestinationPublisher.Publish()` function, but with a few key differences. There is an added `pickPoseOffset` to the `pick` and `place_pose` `y` component. This is because the calculated trajectory to grasp the `target` object will hover slightly above the object before grasping it in order to avoid potentially colliding with the object. Additionally, this function calls `CurrentJointConfig()` to assign the `request.joints_input` instead of assigning the values individually.
 
-    > The `response.trajectories` are received in the `TrajectoryResponse()` callback, as defined in the `ros.SendServiceMessage` parameters. These trajectories are passed to `ExecuteTrajectories()` below:
+    > The `response.trajectories` are received in the `TrajectoryResponse()` callback, as defined in the `ros.SendServiceMessage` parameters. These trajectories are passed to `ExecuteTrajectories()` and executed as a [coroutine](https://docs.unity3d.com/Manual/Coroutines.html):
 
     ```csharp
     private IEnumerator ExecuteTrajectories(MoverServiceResponse response)
@@ -197,4 +197,8 @@ def plan_trajectory(move_group, destination_pose, start_joint_angles):
 
 - If the robot moves to the incorrect location, or executes the poses in an expected order, verify that the shoulder_link (i.e. `niryo_one/world/base_link/shoulder_link`) X Drive Force Limit is `5`.
 
-- Before entering Play mode in the Unity Editor, ensure that all ROS processes are still running. The `server_endpoint` node may time out and will need to be re-run.
+- Before entering Play mode in the Unity Editor, ensure that all ROS processes are still running. The `server_endpoint` node may time out and will need to be re-run.
+
+---
+
+#### Proceed to [Part 4](4_pick_and_place.md).