Updating instructions for URDF repository #71

vidurvij-Unity · 2020-12-09T10:51:23Z

Adding images to be used in URDF repo front page
Adding instructions for using disable_collisions tag in URDF

…sable Collison tag

tutorials/urdf_importer/urdf_appendix.md

Co-authored-by: Hamid Younesy <[email protected]>

mpinol · 2020-12-11T17:36:16Z

tutorials/urdf_importer/urdf_appendix.md

+ <disable_collision link1= <name_of_link_1> link2=<name_of_link_2>>
+  </disable_collision>
+```
+    The disable collision tag flags the links that need to be ignored to the URDF parser. Values of link1 and link2 attributes are the names of the two links between which the collision needs to be ignored. Make sure the names of the links match the names defined in the URDF file.


Remove the indentation.

mpinol · 2020-12-11T17:40:44Z

tutorials/urdf_importer/urdf_appendix.md

 ![](images/ConvexMeshComparison.png)

+## Disable Collision Support
+URDF defines the robot visually using Visual Meshes. To define the physical volume of a robot, Unity uses collision meshes. They are used to define the physical volume of the links and help in calculating the inertia of the links and  detecting the collisions between different physical objects. When a collider mesh is imported in Unity, it is decomposed into near convex shapes to form a concave hull. This is necessary in detecting collisions between two mesh colliders. The changed shape might intersect with each other creating a hindrance in robot movement. To remedy this, we support ```disable collision``` tag in URDF. To add an exception for collision detection in Unity: 


The second and third sentences say similar things.

To define the physical volume of a robot, Unity uses collision meshes. They are used to define the physical volume of the links and help in calculating the inertia of the links and detecting the collisions between different physical objects.

Could be changed to something like,

Unity uses collision meshes to define the physical volume of the robot which are used to calculate the inertia of links and detect collisions between different physical objects.

LaurieCheers-unity · 2020-12-14T18:52:46Z

tutorials/urdf_importer/urdf_appendix.md

 ![](images/ConvexMeshComparison.png)

+## Disable Collision Support
+URDF defines the robot visually using Visual Meshes and its inertial volume using collision meshes. Inertial meshes used to define the physical volume of the links and help in calculating the inertia of the links and  detecting the collisions between different physical objects. When a collider mesh is imported in Unity, it is decomposed into near convex shapes to form a concave hull. This is necessary in detecting collisions between two mesh colliders. The changed shape might intersect with each other creating a hindrance in robot movement. To remedy this, we support ```disable collision``` tag in URDF. To add an exception for collision detection in Unity: 


Article needed here - we support a/the disable collision tag.

LaurieCheers-unity · 2020-12-14T18:54:49Z

tutorials/urdf_importer/urdf_appendix.md

+The disable collision tag flags the links that need to be ignored to the URDF parser. Values of link1 and link2 attributes are the names of the two links between which the collision needs to be ignored. Make sure the names of the links match the names defined in the URDF file.

-
+Note: You can also manually ignore collisions in Unity using [APIs](https://docs.unity3d.com/ScriptReference/Physics.IgnoreCollision.html).


Would also be nice to link to our example file, to show how these tags look in the actual file: https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/pick_and_place/PickAndPlaceProject/Assets/URDF/niryo_one/niryo_one.urdf

… file

* Merging dev branch into main (#78) * Reverting params.yaml and updating code in server_endpoint.md * TcpServer class was renamed * convert all files with dos2unix (#76) * Minor tutorial tweaks, update version numbers Co-authored-by: Devin Miller <[email protected]> Co-authored-by: peifeng-unity <[email protected]> * Updating instructions for URDF repository (#71) * 1. Adding images for URDF tutorial 2. Adding instructions highlighting Disable Collison tag * Adding link to example of disable collision tag in the niryo_one URDF file Co-authored-by: Devin Miller <[email protected]> Co-authored-by: peifeng-unity <[email protected]> Co-authored-by: vidurvij-Unity <[email protected]>

* 1. Adding images for URDF tutorial 2. Adding instructions highlighting Disable Collison tag * Adding link to example of disable collision tag in the niryo_one URDF file

* Merging dev branch into main (#78) * Reverting params.yaml and updating code in server_endpoint.md * TcpServer class was renamed * convert all files with dos2unix (#76) * Minor tutorial tweaks, update version numbers Co-authored-by: Devin Miller <[email protected]> Co-authored-by: Peifeng Jing <[email protected]> * Updating instructions for URDF repository (#71) * 1. Adding images for URDF tutorial 2. Adding instructions highlighting Disable Collison tag * Adding link to example of disable collision tag in the niryo_one URDF file * Sarah/readme update (#112) * Adding physics roadmap and minor formatting changes * formatting nits * Calling out feature requests * Update for ROS-TCP-Connector namespace changes * Mpinol/simrealrebased (#107) * Adding sim and real pnp files. * Update with new instructions (#147) * Update tutorial text (#148) * AIRO-405 Adding Yamato boilerplate to Robotics Hub (#144) * Adding testing boilerplate * Adding tests to run after message generation * Tweaks to ensure run works in Bokken image * Enabling audio by default, but disabling it in yamato config * Hotfix: Remove DemoScripts asmdef The DemoScripts.asmdef was a bit of experimental cruft that snuck in via my Yamato changes. This causes Demo.cs to compile as an Editor script, which means it can no longer be instantiated in the scene hierarchy (this breaks the demo). Removing the asmdef puts things back to normal. Tested by running the demo. * Use latest main * Fixing issue with Demo.cs not working with new URDF Importer co-routine * remove unused import (#163) * update package import urls for tcp connector and urdf importer (#166) * Update urdf_tutorial.md (#168) * Added M prefixes to docs (#167) * Adding Editor version to Ros Integration Readme * Updating package dependencies to proper versions Pick and place tutorial was failing to compile its scripts because the package manifest was pointing to an older version of ROS-TCP-Connector. Updated the manifest and also pulled latest changes for ros_tcp_endpoint. Tested by running DemoScene * Updating Contribution Content (#186) * Contributing content * PR feedback * Adding PR template (#191) * Unity service example (#199) * added example of implementing a UnityService * adding tutorial for unity service * added a couple comments to the example code * typos and code standard fixes * consistency: changing the service name for position_service to pos_srv * updating the tutorial to match the corresponding script * Update the list of new physics features (#204) * add new sections for the released new physics features Co-authored-by: Amanda <[email protected]> * Update to 0.3.0 (#207) * Removing old version tags from git URLs in quick_setup Addressing user issue #209. Our quick_setup guide was still recommending users check out v.0.2.0 of our packages. Removed the reference to a specific package version and instead included a note that users can explicitly declare a package version if desired. Tested by making the change locally in the package manifest. * Updating tutorials to the glorious new world (#211) * add changelog (#218) add changelog * Forum links to README, config.yml (#219) * Add linter (#227) * Add linter and pre-commit hooks * Formatting * Remove setting up ruby * Fixing issue with Demo.cs not working with new URDF Importer co-routine (#162) Co-authored-by: Devin Miller <[email protected]> * Readme: New Link (#172) * Fixing issue with Demo.cs not working with new URDF Importer co-routine * remove unused import (#163) * README update * PR feedback * Blog post link update Co-authored-by: Devin Miller <[email protected]> Co-authored-by: peifeng-unity <[email protected]> * Added newsletter link (#175) * remove stale merge * Minor formmating * Fix README and git sub module * Revert unintentional change in urdf_appendix.md * Add back tutorials/pick_and_place/ROS/src/ros_tcp_endpoint Co-authored-by: LaurieCheers-unity <[email protected]> Co-authored-by: Devin Miller <[email protected]> Co-authored-by: Peifeng Jing <[email protected]> Co-authored-by: vidurvij-Unity <[email protected]> Co-authored-by: sarah-gibson <[email protected]> Co-authored-by: Devin Miller (Unity) <[email protected]> Co-authored-by: peifeng-unity <[email protected]> Co-authored-by: Amanda <[email protected]> Co-authored-by: Hamid Younesy <[email protected]>

* Fixing issue with Demo.cs not working with new URDF Importer co-routine * remove unused import (#163) * update package import urls for tcp connector and urdf importer (#166) * Update urdf_tutorial.md (#168) * Added M prefixes to docs (#167) * Adding Editor version to Ros Integration Readme * Updating package dependencies to proper versions Pick and place tutorial was failing to compile its scripts because the package manifest was pointing to an older version of ROS-TCP-Connector. Updated the manifest and also pulled latest changes for ros_tcp_endpoint. Tested by running DemoScene * Updating Contribution Content (#186) * Contributing content * PR feedback * Adding PR template (#191) * fixing typo in ros-unity service tutorial (#198) * Unity service example (#199) * added example of implementing a UnityService * adding tutorial for unity service * added a couple comments to the example code * typos and code standard fixes * consistency: changing the service name for position_service to pos_srv * updating the tutorial to match the corresponding script * Update the list of new physics features (#204) * add new sections for the released new physics features Co-authored-by: Amanda <[email protected]> * Update to 0.3.0 (#207) * Removing old version tags from git URLs in quick_setup Addressing user issue #209. Our quick_setup guide was still recommending users check out v.0.2.0 of our packages. Removed the reference to a specific package version and instead included a note that users can explicitly declare a package version if desired. Tested by making the change locally in the package manifest. * Adding network troubleshooting doc. (#195) * Adding network troubleshooting doc. * Updating tutorials to the glorious new world (#211) * add changelog (#218) add changelog * Forum links to README, config.yml (#219) * Add linter (#227) * Add linter and pre-commit hooks * Formatting * Remove setting up ruby * Resolve conflicts 2 (#233) * Merging dev branch into main (#78) * Reverting params.yaml and updating code in server_endpoint.md * TcpServer class was renamed * convert all files with dos2unix (#76) * Minor tutorial tweaks, update version numbers Co-authored-by: Devin Miller <[email protected]> Co-authored-by: Peifeng Jing <[email protected]> * Updating instructions for URDF repository (#71) * 1. Adding images for URDF tutorial 2. Adding instructions highlighting Disable Collison tag * Adding link to example of disable collision tag in the niryo_one URDF file * Sarah/readme update (#112) * Adding physics roadmap and minor formatting changes * formatting nits * Calling out feature requests * Update for ROS-TCP-Connector namespace changes * Mpinol/simrealrebased (#107) * Adding sim and real pnp files. * Update with new instructions (#147) * Update tutorial text (#148) * AIRO-405 Adding Yamato boilerplate to Robotics Hub (#144) * Adding testing boilerplate * Adding tests to run after message generation * Tweaks to ensure run works in Bokken image * Enabling audio by default, but disabling it in yamato config * Hotfix: Remove DemoScripts asmdef The DemoScripts.asmdef was a bit of experimental cruft that snuck in via my Yamato changes. This causes Demo.cs to compile as an Editor script, which means it can no longer be instantiated in the scene hierarchy (this breaks the demo). Removing the asmdef puts things back to normal. Tested by running the demo. * Use latest main * Fixing issue with Demo.cs not working with new URDF Importer co-routine * remove unused import (#163) * update package import urls for tcp connector and urdf importer (#166) * Update urdf_tutorial.md (#168) * Added M prefixes to docs (#167) * Adding Editor version to Ros Integration Readme * Updating package dependencies to proper versions Pick and place tutorial was failing to compile its scripts because the package manifest was pointing to an older version of ROS-TCP-Connector. Updated the manifest and also pulled latest changes for ros_tcp_endpoint. Tested by running DemoScene * Updating Contribution Content (#186) * Contributing content * PR feedback * Adding PR template (#191) * Unity service example (#199) * added example of implementing a UnityService * adding tutorial for unity service * added a couple comments to the example code * typos and code standard fixes * consistency: changing the service name for position_service to pos_srv * updating the tutorial to match the corresponding script * Update the list of new physics features (#204) * add new sections for the released new physics features Co-authored-by: Amanda <[email protected]> * Update to 0.3.0 (#207) * Removing old version tags from git URLs in quick_setup Addressing user issue #209. Our quick_setup guide was still recommending users check out v.0.2.0 of our packages. Removed the reference to a specific package version and instead included a note that users can explicitly declare a package version if desired. Tested by making the change locally in the package manifest. * Updating tutorials to the glorious new world (#211) * add changelog (#218) add changelog * Forum links to README, config.yml (#219) * Add linter (#227) * Add linter and pre-commit hooks * Formatting * Remove setting up ruby * Fixing issue with Demo.cs not working with new URDF Importer co-routine (#162) Co-authored-by: Devin Miller <[email protected]> * Readme: New Link (#172) * Fixing issue with Demo.cs not working with new URDF Importer co-routine * remove unused import (#163) * README update * PR feedback * Blog post link update Co-authored-by: Devin Miller <[email protected]> Co-authored-by: peifeng-unity <[email protected]> * Added newsletter link (#175) * remove stale merge * Minor formmating * Fix README and git sub module * Revert unintentional change in urdf_appendix.md * Add back tutorials/pick_and_place/ROS/src/ros_tcp_endpoint Co-authored-by: LaurieCheers-unity <[email protected]> Co-authored-by: Devin Miller <[email protected]> Co-authored-by: Peifeng Jing <[email protected]> Co-authored-by: vidurvij-Unity <[email protected]> Co-authored-by: sarah-gibson <[email protected]> Co-authored-by: Devin Miller (Unity) <[email protected]> Co-authored-by: peifeng-unity <[email protected]> Co-authored-by: Amanda <[email protected]> Co-authored-by: Hamid Younesy <[email protected]> * Update Demo (#235) * Update Demo * Minor fix * Update tutorial manifest to use v0.4.0 * Update ros_tcp_endpoint module * Update quick_setup version * Update tutorial manifest * added chmod to make sure the python scripts are executable (#239) * Minor update in README.md * minor fix Co-authored-by: Devin Miller <[email protected]> Co-authored-by: peifeng-unity <[email protected]> Co-authored-by: vidurvij-Unity <[email protected]> Co-authored-by: LaurieCheers-unity <[email protected]> Co-authored-by: Devin Miller (Unity) <[email protected]> Co-authored-by: Amanda <[email protected]> Co-authored-by: Hamid Younesy <[email protected]> Co-authored-by: Peifeng Jing <[email protected]> Co-authored-by: sarah-gibson <[email protected]>

* Fixing issue with Demo.cs not working with new URDF Importer co-routine * remove unused import (#163) * update package import urls for tcp connector and urdf importer (#166) * Update urdf_tutorial.md (#168) * Added M prefixes to docs (#167) * Adding Editor version to Ros Integration Readme * Updating package dependencies to proper versions Pick and place tutorial was failing to compile its scripts because the package manifest was pointing to an older version of ROS-TCP-Connector. Updated the manifest and also pulled latest changes for ros_tcp_endpoint. Tested by running DemoScene * Updating Contribution Content (#186) * Contributing content * PR feedback * Adding PR template (#191) * fixing typo in ros-unity service tutorial (#198) * Unity service example (#199) * added example of implementing a UnityService * adding tutorial for unity service * added a couple comments to the example code * typos and code standard fixes * consistency: changing the service name for position_service to pos_srv * updating the tutorial to match the corresponding script * Update the list of new physics features (#204) * add new sections for the released new physics features Co-authored-by: Amanda <[email protected]> * Update to 0.3.0 (#207) * Removing old version tags from git URLs in quick_setup Addressing user issue #209. Our quick_setup guide was still recommending users check out v.0.2.0 of our packages. Removed the reference to a specific package version and instead included a note that users can explicitly declare a package version if desired. Tested by making the change locally in the package manifest. * Adding network troubleshooting doc. (#195) * Adding network troubleshooting doc. * Updating tutorials to the glorious new world (#211) * add changelog (#218) add changelog * Forum links to README, config.yml (#219) * Add linter (#227) * Add linter and pre-commit hooks * Formatting * Remove setting up ruby * Resolve conflicts 2 (#233) * Merging dev branch into main (#78) * Reverting params.yaml and updating code in server_endpoint.md * TcpServer class was renamed * convert all files with dos2unix (#76) * Minor tutorial tweaks, update version numbers Co-authored-by: Devin Miller <[email protected]> Co-authored-by: Peifeng Jing <[email protected]> * Updating instructions for URDF repository (#71) * 1. Adding images for URDF tutorial 2. Adding instructions highlighting Disable Collison tag * Adding link to example of disable collision tag in the niryo_one URDF file * Sarah/readme update (#112) * Adding physics roadmap and minor formatting changes * formatting nits * Calling out feature requests * Update for ROS-TCP-Connector namespace changes * Mpinol/simrealrebased (#107) * Adding sim and real pnp files. * Update with new instructions (#147) * Update tutorial text (#148) * AIRO-405 Adding Yamato boilerplate to Robotics Hub (#144) * Adding testing boilerplate * Adding tests to run after message generation * Tweaks to ensure run works in Bokken image * Enabling audio by default, but disabling it in yamato config * Hotfix: Remove DemoScripts asmdef The DemoScripts.asmdef was a bit of experimental cruft that snuck in via my Yamato changes. This causes Demo.cs to compile as an Editor script, which means it can no longer be instantiated in the scene hierarchy (this breaks the demo). Removing the asmdef puts things back to normal. Tested by running the demo. * Use latest main * Fixing issue with Demo.cs not working with new URDF Importer co-routine * remove unused import (#163) * update package import urls for tcp connector and urdf importer (#166) * Update urdf_tutorial.md (#168) * Added M prefixes to docs (#167) * Adding Editor version to Ros Integration Readme * Updating package dependencies to proper versions Pick and place tutorial was failing to compile its scripts because the package manifest was pointing to an older version of ROS-TCP-Connector. Updated the manifest and also pulled latest changes for ros_tcp_endpoint. Tested by running DemoScene * Updating Contribution Content (#186) * Contributing content * PR feedback * Adding PR template (#191) * Unity service example (#199) * added example of implementing a UnityService * adding tutorial for unity service * added a couple comments to the example code * typos and code standard fixes * consistency: changing the service name for position_service to pos_srv * updating the tutorial to match the corresponding script * Update the list of new physics features (#204) * add new sections for the released new physics features Co-authored-by: Amanda <[email protected]> * Update to 0.3.0 (#207) * Removing old version tags from git URLs in quick_setup Addressing user issue #209. Our quick_setup guide was still recommending users check out v.0.2.0 of our packages. Removed the reference to a specific package version and instead included a note that users can explicitly declare a package version if desired. Tested by making the change locally in the package manifest. * Updating tutorials to the glorious new world (#211) * add changelog (#218) add changelog * Forum links to README, config.yml (#219) * Add linter (#227) * Add linter and pre-commit hooks * Formatting * Remove setting up ruby * Fixing issue with Demo.cs not working with new URDF Importer co-routine (#162) Co-authored-by: Devin Miller <[email protected]> * Readme: New Link (#172) * Fixing issue with Demo.cs not working with new URDF Importer co-routine * remove unused import (#163) * README update * PR feedback * Blog post link update Co-authored-by: Devin Miller <[email protected]> Co-authored-by: peifeng-unity <[email protected]> * Added newsletter link (#175) * remove stale merge * Minor formmating * Fix README and git sub module * Revert unintentional change in urdf_appendix.md * Add back tutorials/pick_and_place/ROS/src/ros_tcp_endpoint Co-authored-by: LaurieCheers-unity <[email protected]> Co-authored-by: Devin Miller <[email protected]> Co-authored-by: Peifeng Jing <[email protected]> Co-authored-by: vidurvij-Unity <[email protected]> Co-authored-by: sarah-gibson <[email protected]> Co-authored-by: Devin Miller (Unity) <[email protected]> Co-authored-by: peifeng-unity <[email protected]> Co-authored-by: Amanda <[email protected]> Co-authored-by: Hamid Younesy <[email protected]> * Update Demo (#235) * Update Demo * Minor fix * Update tutorial manifest to use v0.4.0 * Update ros_tcp_endpoint module * Update quick_setup version * Update tutorial manifest * added chmod to make sure the python scripts are executable (#239) * Minor update in README.md * minor fix Co-authored-by: Devin Miller <[email protected]> Co-authored-by: peifeng-unity <[email protected]> Co-authored-by: vidurvij-Unity <[email protected]> Co-authored-by: LaurieCheers-unity <[email protected]> Co-authored-by: Devin Miller (Unity) <[email protected]> Co-authored-by: Amanda <[email protected]> Co-authored-by: Hamid Younesy <[email protected]> Co-authored-by: Peifeng Jing <[email protected]> Co-authored-by: sarah-gibson <[email protected]> Co-authored-by: Devin Miller <[email protected]> Co-authored-by: peifeng-unity <[email protected]> Co-authored-by: vidurvij-Unity <[email protected]> Co-authored-by: LaurieCheers-unity <[email protected]> Co-authored-by: Devin Miller (Unity) <[email protected]> Co-authored-by: Amanda <[email protected]> Co-authored-by: Hamid Younesy <[email protected]> Co-authored-by: Peifeng Jing <[email protected]> Co-authored-by: sarah-gibson <[email protected]>

* Merging dev branch into main (#78) * Reverting params.yaml and updating code in server_endpoint.md * TcpServer class was renamed * convert all files with dos2unix (#76) * Minor tutorial tweaks, update version numbers Co-authored-by: Devin Miller <[email protected]> Co-authored-by: Peifeng Jing <[email protected]> * Updating instructions for URDF repository (#71) * 1. Adding images for URDF tutorial 2. Adding instructions highlighting Disable Collison tag * Adding link to example of disable collision tag in the niryo_one URDF file * Sarah/readme update (#112) * Adding physics roadmap and minor formatting changes * formatting nits * Calling out feature requests * Update for ROS-TCP-Connector namespace changes * Mpinol/simrealrebased (#107) * Adding sim and real pnp files. * Update with new instructions (#147) * Update tutorial text (#148) * AIRO-405 Adding Yamato boilerplate to Robotics Hub (#144) * Adding testing boilerplate * Adding tests to run after message generation * Tweaks to ensure run works in Bokken image * Enabling audio by default, but disabling it in yamato config * Hotfix: Remove DemoScripts asmdef The DemoScripts.asmdef was a bit of experimental cruft that snuck in via my Yamato changes. This causes Demo.cs to compile as an Editor script, which means it can no longer be instantiated in the scene hierarchy (this breaks the demo). Removing the asmdef puts things back to normal. Tested by running the demo. * Use latest main * Fixing issue with Demo.cs not working with new URDF Importer co-routine * remove unused import (#163) * update package import urls for tcp connector and urdf importer (#166) * Update urdf_tutorial.md (#168) * Added M prefixes to docs (#167) * Adding Editor version to Ros Integration Readme * Updating package dependencies to proper versions Pick and place tutorial was failing to compile its scripts because the package manifest was pointing to an older version of ROS-TCP-Connector. Updated the manifest and also pulled latest changes for ros_tcp_endpoint. Tested by running DemoScene * Updating Contribution Content (#186) * Contributing content * PR feedback * Adding PR template (#191) * Unity service example (#199) * added example of implementing a UnityService * adding tutorial for unity service * added a couple comments to the example code * typos and code standard fixes * consistency: changing the service name for position_service to pos_srv * updating the tutorial to match the corresponding script * Update the list of new physics features (#204) * add new sections for the released new physics features Co-authored-by: Amanda <[email protected]> * Update to 0.3.0 (#207) * Removing old version tags from git URLs in quick_setup Addressing user issue #209. Our quick_setup guide was still recommending users check out v.0.2.0 of our packages. Removed the reference to a specific package version and instead included a note that users can explicitly declare a package version if desired. Tested by making the change locally in the package manifest. * Updating tutorials to the glorious new world (#211) * add changelog (#218) add changelog * Forum links to README, config.yml (#219) * Add linter (#227) * Add linter and pre-commit hooks * Formatting * Remove setting up ruby * Fixing issue with Demo.cs not working with new URDF Importer co-routine (#162) Co-authored-by: Devin Miller <[email protected]> * Readme: New Link (#172) * Fixing issue with Demo.cs not working with new URDF Importer co-routine * remove unused import (#163) * README update * PR feedback * Blog post link update Co-authored-by: Devin Miller <[email protected]> Co-authored-by: peifeng-unity <[email protected]> * Added newsletter link (#175) * remove stale merge * Minor formmating * Fix README and git sub module * Revert unintentional change in urdf_appendix.md * Add back tutorials/pick_and_place/ROS/src/ros_tcp_endpoint Co-authored-by: LaurieCheers-unity <[email protected]> Co-authored-by: Devin Miller <[email protected]> Co-authored-by: Peifeng Jing <[email protected]> Co-authored-by: vidurvij-Unity <[email protected]> Co-authored-by: sarah-gibson <[email protected]> Co-authored-by: Devin Miller (Unity) <[email protected]> Co-authored-by: peifeng-unity <[email protected]> Co-authored-by: Amanda <[email protected]> Co-authored-by: Hamid Younesy <[email protected]>

vidurvij-Unity added 2 commits December 9, 2020 02:18

1. Adding images for URDF tutorial 2. Adding instructions highling Di…

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…sable Collison tag

Reverting to original attribute names

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vidurvij-Unity requested review from LaurieCheers-unity, mpinol, mrpropellers and hyounesy December 9, 2020 10:51

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Updating instructions for URDF repository #71

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LaurieCheers-unity Dec 14, 2020 •

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		The disable collision tag flags the links that need to be ignored to the URDF parser. Values of link1 and link2 attributes are the names of the two links between which the collision needs to be ignored. Make sure the names of the links match the names defined in the URDF file.


		Note: You can also manually ignore collisions in Unity using [APIs](https://docs.unity3d.com/ScriptReference/Physics.IgnoreCollision.html).

Updating instructions for URDF repository #71

Updating instructions for URDF repository #71

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