Vidur/pick and place for new urdf importer (#60)

* 1. Updating package Manifest for newerst version of URDF 2. Adding disable_collisions tage in URDF 3. Removing Ignore collision code from TrajectoryPlanner

Author: vidurvij-Unity

tutorials/pick_and_place/PickAndPlaceProject/Assets/URDF/niryo_one/niryo_one.urdf

@@ -218,6 +218,13 @@
     </collision>
 
   </link>
+
+  <!--Disable_Collisions -->
+  <disable_collision joint1="right_gripper" joint2="gripper_base">
+  </disable_collision>
+  <disable_collision joint1="left_gripper" joint2="gripper_base">
+  </disable_collision>
+
   <!--Joints -->
   <joint name="joint_world" type="fixed">
     <parent link="world"/>

tutorials/pick_and_place/PickAndPlaceProject/Packages/manifest.json

@@ -4,7 +4,7 @@
     "com.unity.ide.rider": "2.0.7",
     "com.unity.ide.visualstudio": "2.0.3",
     "com.unity.ide.vscode": "1.2.2",
-    "com.unity.robotics.urdf-importer": "git+https://github.com/Unity-Technologies/URDF-Importer.git#v0.0.3",
+    "com.unity.robotics.urdf-importer": "git+https://github.com/Unity-Technologies/URDF-Importer.git#v0.0.4",
     "com.unity.robotics.ros-tcp-connector": "git+https://github.com/Unity-Technologies/ROS-TCP-Connector.git#v0.0.2",
     "com.unity.test-framework": "1.1.18",
     "com.unity.textmeshpro": "3.0.1",

tutorials/pick_and_place/PickAndPlaceProject/Packages/packages-lock.json

@@ -45,11 +45,11 @@
       "hash": "0e963defca4eb075316d30e1e4224dee276c22cb"
     },
     "com.unity.robotics.urdf-importer": {
-      "version": "git+https://github.com/Unity-Technologies/URDF-Importer.git#v0.0.3",
+      "version": "git+https://github.com/Unity-Technologies/URDF-Importer.git#v0.0.4",
       "depth": 0,
       "source": "git",
       "dependencies": {},
-      "hash": "c21c367786597b82079a1bf616af8c8b27293a95"
+      "hash": "ca9f90f7d3fda94747e4dd4fa9702e6799af938e"
     },
     "com.unity.test-framework": {
       "version": "1.1.18",

tutorials/pick_and_place/Scripts/TrajectoryPlanner.cs

@@ -233,23 +233,4 @@ void Awake()
         rightGripper = rightGripperGameObject.GetComponent<ArticulationBody>();
         leftGripper = leftGripperGameObject.GetComponent<ArticulationBody>();
     }
-
-    void Start()
-    {
-        // Ignore collisions between gripper base and left/right grippers as the grippers slide along the base's edge
-        Collider[] gripperBaseColliders = gripperBase.GetComponentsInChildren<Collider>();
-        Collider[] rightGripperCollider = rightGripper.GetComponentsInChildren<Collider>();
-        Collider[] leftGripperCollider = leftGripper.GetComponentsInChildren<Collider>();
-        foreach(Collider gripBase in gripperBaseColliders)
-        {
-            foreach(Collider rightGrip in rightGripperCollider)
-            {
-                Physics.IgnoreCollision(gripBase, rightGrip);
-            }
-            foreach(Collider leftGrip in leftGripperCollider)
-            {
-                Physics.IgnoreCollision(leftGrip, gripBase);
-            }
-        }
-    }
 }