Version 0.3.0

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,37 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Console logs / stack traces**
+Please wrap in [triple backticks (```)](https://help.github.com/en/articles/creating-and-highlighting-code-blocks) to make it easier to read.
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots or videos to help explain your problem.
+
+**Environment (please complete the following information, where applicable):**
+- Unity Version: [e.g. Unity 2020.2.0f1]
+- Unity machine OS + version: [e.g. Windows 10]
+- ROS machine OS + version: [e.g. Ubuntu 18.04, ROS Noetic]
+- ROS–Unity communication: [e.g. Docker]
+- Branch or version: [e.g. v0.2.0]
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,34 @@
+## Proposed change(s)
+
+Describe the changes made in this PR.
+
+### Useful links (GitHub issues, JIRA tickets, forum threads, etc.)
+
+Provide any relevant links here.
+
+### Types of change(s)
+
+- [ ] Bug fix
+- [ ] New feature
+- [ ] Code refactor
+- [ ] Documentation update
+- [ ] Other (please describe)
+
+## Testing and Verification
+
+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. 
+
+### Test Configuration:
+- Unity Version: [e.g. Unity 2020.2.0f1]
+- Unity machine OS + version: [e.g. Windows 10]
+- ROS machine OS + version: [e.g. Ubuntu 18.04, ROS Noetic]
+- ROS–Unity communication: [e.g. Docker]
+
+## Checklist
+- [ ] Ensured this PR is up-to-date with the `dev` branch
+- [ ] Created this PR to target the `dev` branch
+- [ ] Followed the style guidelines as described in the [Contribution Guidelines](../CONTRIBUTING.md)
+- [ ] Added tests that prove my fix is effective or that my feature works
+- [ ] Updated the documentation as appropriate
+
+## Other comments

CODE_OF_CONDUCT.md

@@ -0,0 +1,74 @@
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+In the interest of fostering an open and welcoming environment, we as
+contributors and maintainers pledge to making participation in our project and
+our community a harassment-free experience for everyone, regardless of age, body
+size, disability, ethnicity, gender identity and expression, level of experience,
+nationality, personal appearance, race, religion, or sexual identity and
+orientation.
+
+## Our Standards
+
+Examples of behavior that contributes to creating a positive environment
+include:
+
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members
+
+Examples of unacceptable behavior by participants include:
+
+* The use of sexualized language or imagery and unwelcome sexual attention or
+  advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or electronic
+  address, without explicit permission
+* Other conduct which could reasonably be considered inappropriate in a
+  professional setting
+
+## Our Responsibilities
+
+Project maintainers are responsible for clarifying the standards of acceptable
+behavior and are expected to take appropriate and fair corrective action in
+response to any instances of unacceptable behavior.
+
+Project maintainers have the right and responsibility to remove, edit, or
+reject comments, commits, code, wiki edits, issues, and other contributions
+that are not aligned to this Code of Conduct, or to ban temporarily or
+permanently any contributor for other behaviors that they deem inappropriate,
+threatening, offensive, or harmful.
+
+## Scope
+
+This Code of Conduct applies both within project spaces and in public spaces
+when an individual is representing the project or its community. Examples of
+representing a project or community include using an official project e-mail
+address, posting via an official social media account, or acting as an appointed
+representative at an online or offline event. Representation of a project may be
+further defined and clarified by project maintainers.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be
+reported by contacting the project team at [[email protected]](mailto:[email protected]). All
+complaints will be reviewed and investigated and will result in a response that
+is deemed necessary and appropriate to the circumstances. The project team is
+obligated to maintain confidentiality with regard to the reporter of an incident.
+Further details of specific enforcement policies may be posted separately.
+
+Project maintainers who do not follow or enforce the Code of Conduct in good
+faith may face temporary or permanent repercussions as determined by other
+members of the project's leadership.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage],
+version 1.4, available at
+https://www.contributor-covenant.org/version/1/4/code-of-conduct/
+
+[homepage]: https://www.contributor-covenant.org

CONTRIBUTING.md

@@ -0,0 +1,64 @@
+# Contribution Guidelines
+
+Thank you for your interest in contributing to Unity Robotics! To facilitate your 
+contributions, we've outlined a brief set of guidelines to ensure that your extensions 
+can be easily integrated.
+
+## Communication
+
+First, please read through our
+[code of conduct](CODE_OF_CONDUCT.md),
+as we expect all our contributors to follow it.
+
+Second, before starting on a project that you intend to contribute to any of our
+Unity Robotics packages or tutorials, we **strongly** recommend posting on the repository's
+[Issues page](https://github.com/Unity-Technologies/Unity-Robotics-Hub/issues) and
+briefly outlining the changes you plan to make. This will enable us to provide
+some context that may be helpful for you. This could range from advice and
+feedback on how to optimally perform your changes or reasons for not doing it.
+
+## Git Branches
+
+The `main` branch corresponds to the most recent stable version of the project. The `dev` branch
+contains changes that are staged to be merged into `main` as the team sees fit.
+
+When contributing to the project, please make sure that your Pull Request (PR)
+does the following:
+
+- Is up-to-date with and targets the `dev` branch
+- Contains a detailed description of the changes performed
+- Has corresponding changes to documentation, unit tests and sample environments (if
+  applicable)
+- Contains a summary of the tests performed to validate your changes
+- Links to issue numbers that the PR resolves (if any)
+
+<!-- ## Continuous Integration (CI)
+
+We run continuous integration on all PRs; all tests must be passing before the PR is merged. -->
+
+## Code style
+
+All Python code should follow the [PEP 8 style guidelines](https://pep8.org/).
+
+All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions). 
+Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/[email protected]/manual/index.html) 
+can be used to format, encode, and lint your code according to the standard Unity 
+development conventions. Be aware that these Unity conventions will supersede the 
+Microsoft C# Coding Conventions where applicable.
+
+Please note that even if the code you are changing does not adhere to these guidelines,
+we expect your submissions to follow these conventions.
+
+## Contributor License Agreements
+
+When you open a pull request, you will be asked to acknowledge our Contributor
+License Agreement. We allow both individual contributions and contributions made
+on behalf of companies. We use an open source tool called CLA assistant. If you
+have any questions on our CLA, please
+[submit an issue](https://github.com/Unity-Technologies/Unity-Robotics-Hub/issues) or
+email us at [[email protected]](mailto:[email protected]).
+
+## Contribution review
+
+Once you have a change ready following the above ground rules, simply make a 
+pull request in GitHub.

LICENSE

@@ -174,3 +174,17 @@
       of your accepting any such warranty or additional liability.
 
    END OF TERMS AND CONDITIONS
+
+   Copyright 2020 Unity Technologies
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

README.md

@@ -2,6 +2,8 @@
 
 # Unity Robotics Hub
 
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+
 This is a central repository for tools, tutorials, resources, and documentation for robotic simulation in Unity.
 
 > The contents of this repository are in active development. Its features and API are subject to significant change as development progresses.
@@ -48,22 +50,33 @@ Use articulation bodies to easily prototype industrial designs with realistic mo
 - [Unity Industrial Simulation](https://unity.com/products/unity-simulation)
 - [Unity Computer Vision](https://unity.com/computer-vision)
 
-## Coming Soon - New Physics Features in Unity!
+## New Physics Features in Unity
+### New Features
+- **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. It is available in Unity versions **2021.2a12+**. [Read more about the new Contact Modification API](https://forum.unity.com/threads/experimental-contacts-modification-api.924809/).
+- **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. This API is available in Unity versions **2020.3.5f1+**. [Read more about continuous collision detection](https://docs.unity3d.com/2020.3/Documentation/ScriptReference/ArticulationBody-collisionDetectionMode.html).
+
+### Coming Soon
 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)
 
+## Community and Feedback
+
+The Unity Robotics projects are open-source and we encourage and welcome contributions. 
+If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md) 
+and [code of conduct](CODE_OF_CONDUCT.md).
+
 ## Support
-For general questions, feedback, or feature requests, connect directly with the Robotics team at [[email protected]](mailto:[email protected]).
+For general questions, feedback, or feature requests, connect directly with the 
+Robotics team at [[email protected]](mailto:[email protected]).
 
-For bugs or other issues, please file a GitHub issue and the Robotics team will investigate the issue as soon as possible.
+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)
+[Apache License 2.0](LICENSE)

tutorials/pick_and_place/2_ros_tcp.md

@@ -55,15 +55,15 @@ To enable communication between Unity and ROS, a TCP endpoint running as a ROS n
 
    ![](img/2_robottraj.png)
 
-	- One new C# script should populate the `Assets/RosMessages/Moveit/msg` directory: RobotTrajectory.
+	- One new C# script should populate the `Assets/RosMessages/Moveit/msg` directory: MRobotTrajectory. This name is the same as the message you built, with an "M" prefix (for message).
 
 1. Next, the custom message scripts for this tutorial will need to be generated. 
 
    Still in the ROS Message Browser window, expand `ROS/src/niryo_moveit/msg` to view the msg files listed. Next to msg, click `Build 2 msgs`.
 
    ![](img/2_msg.png)
 
-	- Two new C# scripts should populate the `Assets/RosMessages/NiryoMoveit/msg` directory: NiryoMoveitJoints and NiryoTrajectory. NiryoMoveitJoints describes a value for each joint in the Niryo arm as well as poses for the target object and target goal. NiryoTrajectory describes a list of RobotTrajectory values, which will hold the calculated trajectories for the pick-and-place task.
+	- Two new C# scripts should populate the `Assets/RosMessages/NiryoMoveit/msg` directory: MNiryoMoveitJoints and MNiryoTrajectory. MNiryoMoveitJoints describes a value for each joint in the Niryo arm as well as poses for the target object and target goal. MNiryoTrajectory describes a list of RobotTrajectory values, which will hold the calculated trajectories for the pick-and-place task.
 
    > MessageGeneration generates a C# class from a ROS msg file with protections for use of C# reserved keywords and conversion to C# datatypes. Learn more about [ROS Messages](https://wiki.ros.org/Messages).
 
@@ -73,7 +73,7 @@ To enable communication between Unity and ROS, a TCP endpoint running as a ROS n
 
    ![](img/2_srv.png)
 
-   - Two new C# scripts should populate the `Assets/RosMessages/NiryoMoveit/srv` directory: MoverServiceRequest and MoverServiceResponse. These files describe the expected input and output formats for the service requests and responses when calculating trajectories. 
+   - Two new C# scripts should populate the `Assets/RosMessages/NiryoMoveit/srv` directory: MMoverServiceRequest and MMoverServiceResponse. These files describe the expected input and output formats for the service requests and responses when calculating trajectories. 
 
    > MessageGeneration generates two C# classes, a request and response, from a ROS srv file with protections for use of C# reserved keywords and conversion to C# datatypes. Learn more about [ROS Services](https://wiki.ros.org/Services).
 
@@ -86,7 +86,7 @@ To enable communication between Unity and ROS, a TCP endpoint running as a ROS n
    ```csharp
    public void Publish()
    {
-      NiryoMoveitJoints sourceDestinationMessage = new NiryoMoveitJoints();
+      MNiryoMoveitJoints sourceDestinationMessage = new MNiryoMoveitJoints();
 
       sourceDestinationMessage.joint_00 = jointArticulationBodies[0].xDrive.target;
       sourceDestinationMessage.joint_01 = jointArticulationBodies[1].xDrive.target;
@@ -96,15 +96,15 @@ To enable communication between Unity and ROS, a TCP endpoint running as a ROS n
       sourceDestinationMessage.joint_05 = jointArticulationBodies[5].xDrive.target;
 
       // Pick Pose
-      sourceDestinationMessage.pick_pose = new RosMessageTypes.Geometry.Pose
+      sourceDestinationMessage.pick_pose = new MPose
       {
          position = target.transform.position.To<FLU>(),
          // The hardcoded x/z angles assure that the gripper is always positioned above the target cube before grasping.
          orientation = Quaternion.Euler(90, target.transform.eulerAngles.y, 0).To<FLU>()
       };
 
       // Place Pose
-      sourceDestinationMessage.place_pose = new RosMessageTypes.Geometry.Pose
+      sourceDestinationMessage.place_pose = new MPose
       {
          position = targetPlacement.transform.position.To<FLU>(),
          orientation = pickOrientation.To<FLU>()