Skip to content

Commit b33604f

Browse files
micahpearlmanmicahpearlman
committed
New UR10 URDF import
1 parent bcf48c3 commit b33604f

157 files changed

Lines changed: 11522 additions & 481 deletions

File tree

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

‎Editor/CustomEditors/ZODocumentRootEditor.cs‎

Lines changed: 5 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -17,10 +17,13 @@ namespace ZO.Editor {
1717
public class ZOSimDocumentRootEditor : UnityEditor.Editor {
1818

1919
private string _URDFExportDirectory = "";
20+
private static readonly string[] _dontIncludeMe = new string[] { "_updateRateHz", "_ROSTopic", "_debug" };
2021

2122
public override void OnInspectorGUI() {
2223

23-
DrawDefaultInspector();
24+
DrawPropertiesExcluding(serializedObject, _dontIncludeMe);
25+
serializedObject.ApplyModifiedProperties();
26+
2427

2528
ZOSimDocumentRoot documentRoot = (ZOSimDocumentRoot)target;
2629

@@ -42,7 +45,7 @@ public override void OnInspectorGUI() {
4245
}
4346
*/
4447
if (GUILayout.Button("Export URDF...")) {
45-
48+
4649
_URDFExportDirectory = EditorUtility.OpenFolderPanel("Select URDF export directory", _URDFExportDirectory, "");
4750

4851
if (_URDFExportDirectory.Length == 0) {

‎Samples~/ZeroSimSamples/Robots/UR10.meta‎

Lines changed: 2 additions & 2 deletions
Some generated files are not rendered by default. Learn more about customizing how changed files appear on GitHub.

‎Samples~/ZeroSimSamples/Robots/UR10/materials.meta‎

Lines changed: 8 additions & 0 deletions
Some generated files are not rendered by default. Learn more about customizing how changed files appear on GitHub.

‎Samples~/ZeroSimSamples/Robots/UR10/materials/SWMaterial-0 1.mat‎

Lines changed: 78 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,78 @@
1+
%YAML 1.1
2+
%TAG !u! tag:unity3d.com,2011:
3+
--- !u!21 &2100000
4+
Material:
5+
serializedVersion: 6
6+
m_ObjectHideFlags: 0
7+
m_CorrespondingSourceObject: {fileID: 0}
8+
m_PrefabInstance: {fileID: 0}
9+
m_PrefabAsset: {fileID: 0}
10+
m_Name: SWMaterial-0 1
11+
m_Shader: {fileID: 45, guid: 0000000000000000f000000000000000, type: 0}
12+
m_ShaderKeywords: _EMISSION
13+
m_LightmapFlags: 4
14+
m_EnableInstancingVariants: 0
15+
m_DoubleSidedGI: 0
16+
m_CustomRenderQueue: -1
17+
stringTagMap: {}
18+
disabledShaderPasses: []
19+
m_SavedProperties:
20+
serializedVersion: 3
21+
m_TexEnvs:
22+
- _BumpMap:
23+
m_Texture: {fileID: 0}
24+
m_Scale: {x: 1, y: 1}
25+
m_Offset: {x: 0, y: 0}
26+
- _DetailAlbedoMap:
27+
m_Texture: {fileID: 0}
28+
m_Scale: {x: 1, y: 1}
29+
m_Offset: {x: 0, y: 0}
30+
- _DetailMask:
31+
m_Texture: {fileID: 0}
32+
m_Scale: {x: 1, y: 1}
33+
m_Offset: {x: 0, y: 0}
34+
- _DetailNormalMap:
35+
m_Texture: {fileID: 0}
36+
m_Scale: {x: 1, y: 1}
37+
m_Offset: {x: 0, y: 0}
38+
- _EmissionMap:
39+
m_Texture: {fileID: 0}
40+
m_Scale: {x: 1, y: 1}
41+
m_Offset: {x: 0, y: 0}
42+
- _MainTex:
43+
m_Texture: {fileID: 0}
44+
m_Scale: {x: 1, y: 1}
45+
m_Offset: {x: 0, y: 0}
46+
- _OcclusionMap:
47+
m_Texture: {fileID: 0}
48+
m_Scale: {x: 1, y: 1}
49+
m_Offset: {x: 0, y: 0}
50+
- _ParallaxMap:
51+
m_Texture: {fileID: 0}
52+
m_Scale: {x: 1, y: 1}
53+
m_Offset: {x: 0, y: 0}
54+
- _SpecGlossMap:
55+
m_Texture: {fileID: 0}
56+
m_Scale: {x: 1, y: 1}
57+
m_Offset: {x: 0, y: 0}
58+
m_Floats:
59+
- _BumpScale: 1
60+
- _Cutoff: 0.5
61+
- _DetailNormalMapScale: 1
62+
- _DstBlend: 0
63+
- _GlossMapScale: 1
64+
- _Glossiness: -0.001960784
65+
- _GlossyReflections: 1
66+
- _Mode: 0
67+
- _OcclusionStrength: 1
68+
- _Parallax: 0.02
69+
- _SmoothnessTextureChannel: 0
70+
- _SpecularHighlights: 1
71+
- _SrcBlend: 1
72+
- _UVSec: 0
73+
- _ZWrite: 1
74+
m_Colors:
75+
- _Color: {r: 0.222745, g: 0.222745, b: 0.222745, a: 1}
76+
- _EmissionColor: {r: 0.05, g: 0.05, b: 0.05, a: 1}
77+
- _SpecColor: {r: 0.0625, g: 0.0625, b: 0.0625, a: 1}
78+
m_BuildTextureStacks: []

‎Samples~/ZeroSimSamples/Robots/UR10/materials/SWMaterial-0 1.mat.meta‎

Lines changed: 8 additions & 0 deletions
Some generated files are not rendered by default. Learn more about customizing how changed files appear on GitHub.

‎Samples~/ZeroSimSamples/Robots/UR10/materials/SWMaterial-0.mat‎

Lines changed: 78 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,78 @@
1+
%YAML 1.1
2+
%TAG !u! tag:unity3d.com,2011:
3+
--- !u!21 &2100000
4+
Material:
5+
serializedVersion: 6
6+
m_ObjectHideFlags: 0
7+
m_CorrespondingSourceObject: {fileID: 0}
8+
m_PrefabInstance: {fileID: 0}
9+
m_PrefabAsset: {fileID: 0}
10+
m_Name: SWMaterial-0
11+
m_Shader: {fileID: 45, guid: 0000000000000000f000000000000000, type: 0}
12+
m_ShaderKeywords: _EMISSION
13+
m_LightmapFlags: 4
14+
m_EnableInstancingVariants: 0
15+
m_DoubleSidedGI: 0
16+
m_CustomRenderQueue: -1
17+
stringTagMap: {}
18+
disabledShaderPasses: []
19+
m_SavedProperties:
20+
serializedVersion: 3
21+
m_TexEnvs:
22+
- _BumpMap:
23+
m_Texture: {fileID: 0}
24+
m_Scale: {x: 1, y: 1}
25+
m_Offset: {x: 0, y: 0}
26+
- _DetailAlbedoMap:
27+
m_Texture: {fileID: 0}
28+
m_Scale: {x: 1, y: 1}
29+
m_Offset: {x: 0, y: 0}
30+
- _DetailMask:
31+
m_Texture: {fileID: 0}
32+
m_Scale: {x: 1, y: 1}
33+
m_Offset: {x: 0, y: 0}
34+
- _DetailNormalMap:
35+
m_Texture: {fileID: 0}
36+
m_Scale: {x: 1, y: 1}
37+
m_Offset: {x: 0, y: 0}
38+
- _EmissionMap:
39+
m_Texture: {fileID: 0}
40+
m_Scale: {x: 1, y: 1}
41+
m_Offset: {x: 0, y: 0}
42+
- _MainTex:
43+
m_Texture: {fileID: 0}
44+
m_Scale: {x: 1, y: 1}
45+
m_Offset: {x: 0, y: 0}
46+
- _OcclusionMap:
47+
m_Texture: {fileID: 0}
48+
m_Scale: {x: 1, y: 1}
49+
m_Offset: {x: 0, y: 0}
50+
- _ParallaxMap:
51+
m_Texture: {fileID: 0}
52+
m_Scale: {x: 1, y: 1}
53+
m_Offset: {x: 0, y: 0}
54+
- _SpecGlossMap:
55+
m_Texture: {fileID: 0}
56+
m_Scale: {x: 1, y: 1}
57+
m_Offset: {x: 0, y: 0}
58+
m_Floats:
59+
- _BumpScale: 1
60+
- _Cutoff: 0.5
61+
- _DetailNormalMapScale: 1
62+
- _DstBlend: 0
63+
- _GlossMapScale: 1
64+
- _Glossiness: -0.001960784
65+
- _GlossyReflections: 1
66+
- _Mode: 0
67+
- _OcclusionStrength: 1
68+
- _Parallax: 0.02
69+
- _SmoothnessTextureChannel: 0
70+
- _SpecularHighlights: 1
71+
- _SrcBlend: 1
72+
- _UVSec: 0
73+
- _ZWrite: 1
74+
m_Colors:
75+
- _Color: {r: 0.222745, g: 0.222745, b: 0.222745, a: 1}
76+
- _EmissionColor: {r: 0.05, g: 0.05, b: 0.05, a: 1}
77+
- _SpecColor: {r: 0.0625, g: 0.0625, b: 0.0625, a: 1}
78+
m_BuildTextureStacks: []

‎Samples~/ZeroSimSamples/Robots/UR10/materials/SWMaterial-0.mat.meta‎

Lines changed: 8 additions & 0 deletions
Some generated files are not rendered by default. Learn more about customizing how changed files appear on GitHub.

‎Samples~/ZeroSimSamples/Robots/UR10/materials/SWMaterial-0_001 1.mat‎

Lines changed: 78 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,78 @@
1+
%YAML 1.1
2+
%TAG !u! tag:unity3d.com,2011:
3+
--- !u!21 &2100000
4+
Material:
5+
serializedVersion: 6
6+
m_ObjectHideFlags: 0
7+
m_CorrespondingSourceObject: {fileID: 0}
8+
m_PrefabInstance: {fileID: 0}
9+
m_PrefabAsset: {fileID: 0}
10+
m_Name: SWMaterial-0_001 1
11+
m_Shader: {fileID: 45, guid: 0000000000000000f000000000000000, type: 0}
12+
m_ShaderKeywords: _EMISSION
13+
m_LightmapFlags: 4
14+
m_EnableInstancingVariants: 0
15+
m_DoubleSidedGI: 0
16+
m_CustomRenderQueue: -1
17+
stringTagMap: {}
18+
disabledShaderPasses: []
19+
m_SavedProperties:
20+
serializedVersion: 3
21+
m_TexEnvs:
22+
- _BumpMap:
23+
m_Texture: {fileID: 0}
24+
m_Scale: {x: 1, y: 1}
25+
m_Offset: {x: 0, y: 0}
26+
- _DetailAlbedoMap:
27+
m_Texture: {fileID: 0}
28+
m_Scale: {x: 1, y: 1}
29+
m_Offset: {x: 0, y: 0}
30+
- _DetailMask:
31+
m_Texture: {fileID: 0}
32+
m_Scale: {x: 1, y: 1}
33+
m_Offset: {x: 0, y: 0}
34+
- _DetailNormalMap:
35+
m_Texture: {fileID: 0}
36+
m_Scale: {x: 1, y: 1}
37+
m_Offset: {x: 0, y: 0}
38+
- _EmissionMap:
39+
m_Texture: {fileID: 0}
40+
m_Scale: {x: 1, y: 1}
41+
m_Offset: {x: 0, y: 0}
42+
- _MainTex:
43+
m_Texture: {fileID: 0}
44+
m_Scale: {x: 1, y: 1}
45+
m_Offset: {x: 0, y: 0}
46+
- _OcclusionMap:
47+
m_Texture: {fileID: 0}
48+
m_Scale: {x: 1, y: 1}
49+
m_Offset: {x: 0, y: 0}
50+
- _ParallaxMap:
51+
m_Texture: {fileID: 0}
52+
m_Scale: {x: 1, y: 1}
53+
m_Offset: {x: 0, y: 0}
54+
- _SpecGlossMap:
55+
m_Texture: {fileID: 0}
56+
m_Scale: {x: 1, y: 1}
57+
m_Offset: {x: 0, y: 0}
58+
m_Floats:
59+
- _BumpScale: 1
60+
- _Cutoff: 0.5
61+
- _DetailNormalMapScale: 1
62+
- _DstBlend: 0
63+
- _GlossMapScale: 1
64+
- _Glossiness: -0.001960784
65+
- _GlossyReflections: 1
66+
- _Mode: 0
67+
- _OcclusionStrength: 1
68+
- _Parallax: 0.02
69+
- _SmoothnessTextureChannel: 0
70+
- _SpecularHighlights: 1
71+
- _SrcBlend: 1
72+
- _UVSec: 0
73+
- _ZWrite: 1
74+
m_Colors:
75+
- _Color: {r: 0.222745, g: 0.222745, b: 0.222745, a: 1}
76+
- _EmissionColor: {r: 0.05, g: 0.05, b: 0.05, a: 1}
77+
- _SpecColor: {r: 0.0625, g: 0.0625, b: 0.0625, a: 1}
78+
m_BuildTextureStacks: []

‎Samples~/ZeroSimSamples/Robots/UR10/materials/SWMaterial-0_001 1.mat.meta‎

Lines changed: 8 additions & 0 deletions
Some generated files are not rendered by default. Learn more about customizing how changed files appear on GitHub.

‎Samples~/ZeroSimSamples/Robots/UR10/materials/SWMaterial-0_001.mat‎

Lines changed: 78 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,78 @@
1+
%YAML 1.1
2+
%TAG !u! tag:unity3d.com,2011:
3+
--- !u!21 &2100000
4+
Material:
5+
serializedVersion: 6
6+
m_ObjectHideFlags: 0
7+
m_CorrespondingSourceObject: {fileID: 0}
8+
m_PrefabInstance: {fileID: 0}
9+
m_PrefabAsset: {fileID: 0}
10+
m_Name: SWMaterial-0_001
11+
m_Shader: {fileID: 45, guid: 0000000000000000f000000000000000, type: 0}
12+
m_ShaderKeywords: _EMISSION
13+
m_LightmapFlags: 4
14+
m_EnableInstancingVariants: 0
15+
m_DoubleSidedGI: 0
16+
m_CustomRenderQueue: -1
17+
stringTagMap: {}
18+
disabledShaderPasses: []
19+
m_SavedProperties:
20+
serializedVersion: 3
21+
m_TexEnvs:
22+
- _BumpMap:
23+
m_Texture: {fileID: 0}
24+
m_Scale: {x: 1, y: 1}
25+
m_Offset: {x: 0, y: 0}
26+
- _DetailAlbedoMap:
27+
m_Texture: {fileID: 0}
28+
m_Scale: {x: 1, y: 1}
29+
m_Offset: {x: 0, y: 0}
30+
- _DetailMask:
31+
m_Texture: {fileID: 0}
32+
m_Scale: {x: 1, y: 1}
33+
m_Offset: {x: 0, y: 0}
34+
- _DetailNormalMap:
35+
m_Texture: {fileID: 0}
36+
m_Scale: {x: 1, y: 1}
37+
m_Offset: {x: 0, y: 0}
38+
- _EmissionMap:
39+
m_Texture: {fileID: 0}
40+
m_Scale: {x: 1, y: 1}
41+
m_Offset: {x: 0, y: 0}
42+
- _MainTex:
43+
m_Texture: {fileID: 0}
44+
m_Scale: {x: 1, y: 1}
45+
m_Offset: {x: 0, y: 0}
46+
- _OcclusionMap:
47+
m_Texture: {fileID: 0}
48+
m_Scale: {x: 1, y: 1}
49+
m_Offset: {x: 0, y: 0}
50+
- _ParallaxMap:
51+
m_Texture: {fileID: 0}
52+
m_Scale: {x: 1, y: 1}
53+
m_Offset: {x: 0, y: 0}
54+
- _SpecGlossMap:
55+
m_Texture: {fileID: 0}
56+
m_Scale: {x: 1, y: 1}
57+
m_Offset: {x: 0, y: 0}
58+
m_Floats:
59+
- _BumpScale: 1
60+
- _Cutoff: 0.5
61+
- _DetailNormalMapScale: 1
62+
- _DstBlend: 0
63+
- _GlossMapScale: 1
64+
- _Glossiness: -0.001960784
65+
- _GlossyReflections: 1
66+
- _Mode: 0
67+
- _OcclusionStrength: 1
68+
- _Parallax: 0.02
69+
- _SmoothnessTextureChannel: 0
70+
- _SpecularHighlights: 1
71+
- _SrcBlend: 1
72+
- _UVSec: 0
73+
- _ZWrite: 1
74+
m_Colors:
75+
- _Color: {r: 0.222745, g: 0.222745, b: 0.222745, a: 1}
76+
- _EmissionColor: {r: 0.05, g: 0.05, b: 0.05, a: 1}
77+
- _SpecColor: {r: 0.03125, g: 0.03125, b: 0.03125, a: 1}
78+
m_BuildTextureStacks: []

0 commit comments

Comments
 (0)