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Stretch Robot integration into main branch #1008

Merged
merged 75 commits into from
Apr 13, 2022
Merged

Stretch Robot integration into main branch #1008

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6c700a7
Added stretch robot mesh, materials, and initial arm functionality
elimvb Aug 24, 2021
a92c80b
Merge branch 'erick/refactor-agent' into stretch_robot
Aug 24, 2021
08b4c28
Removed unnecessary comments from FK_IK_Solver script
elimvb Sep 13, 2021
f83627e
Renamed parameter names to be more universal
elimvb Sep 13, 2021
40d07c2
Major additions to FPSController logic, to add new stretch_robot as f…
elimvb Sep 13, 2021
851b78a
adding UNITY_EDITOR debugging for stretch robot
Sep 13, 2021
6e03767
Fixed ContinuousMovement script to be compatible with Stretch Arm
elimvb Sep 14, 2021
5554393
Fixed ArmActive conditions to include SArm
elimvb Sep 15, 2021
181d3dc
Made more refined adjustments to stretch arm variation of logic in Ba…
elimvb Sep 15, 2021
f9b87b9
Adjusted Stretch Arm to have proper extension boundaries
elimvb Sep 15, 2021
0926269
Fixed variable names in Stretch Arm Solver to be more appropriate
elimvb Sep 16, 2021
18dd12c
Restructured Stretch Arm hierarchy to make it more consistent with IK…
elimvb Sep 17, 2021
2e7a419
Fixed one more detail to stretch robot hierarchy restructuring
elimvb Sep 17, 2021
98d8beb
Added more Stretch Arm details
elimvb Sep 20, 2021
8a813a4
Made corrections to Stretch Arm restructuring
elimvb Sep 20, 2021
b5ea842
Made final physics-related adjustments to AgentManager
elimvb Sep 20, 2021
171a2a1
Fixed slight orientation problem with stretch robot mesh
elimvb Sep 21, 2021
56132bd
Fixed offset issue with Stretch Arm Controller
elimvb Sep 21, 2021
5b5e109
Fixed stretch arm gripper prefab orientation
elimvb Sep 21, 2021
ccc688e
Changed functionally-identical detail to IK_Robot_Arm_Controller, to …
elimvb Sep 21, 2021
d1dc106
Removed redundant comments from arm scripts
elimvb Sep 22, 2021
3f706b2
Added more intermediate joints for stretch-arm, for organization's sake
elimvb Sep 22, 2021
826a161
Made additional changes to consolidate and simplify logic for both IK…
elimvb Sep 22, 2021
153d871
NavMeshAgent moved to child of FPSController
winthos Sep 22, 2021
17c95a0
Fixed joint points for ideal metadata
elimvb Sep 23, 2021
4e56197
Fixed parameter for stretch-arm's freedom of motion
elimvb Sep 23, 2021
2baf593
Adjusted logic for changed joint_5 transform
elimvb Sep 23, 2021
e103183
Added custom shortcuts for debug actions
elimvb Sep 23, 2021
7125292
Re-activated capsules that I forgot to turn back on
elimvb Sep 23, 2021
ffe5710
Fixed rotation metadata
elimvb Sep 24, 2021
5cc6bb4
Refined RotateWristRelative for Stretch-Arm
elimvb Sep 24, 2021
df34c0b
Changed wristToManipulator parameter to be private, since it's a cons…
elimvb Sep 27, 2021
8917d82
Fixed additional edge-case details on Stretch Arm
elimvb Sep 27, 2021
f9bf48a
Moved FPSController' stretch-arm up by 0.2m (temp)
elimvb Sep 29, 2021
32185b6
Moved agent into workable starting position in FP9
elimvb Sep 29, 2021
756345c
Added TriggerColliders to Stretch Arm
elimvb Sep 29, 2021
09c70ad
Moved Stretch_Arm back to correct location
elimvb Sep 30, 2021
1dd2730
adding 'sim' debug method and fixing inits stretch arm initialization…
Oct 1, 2021
bd3a4da
Nudged up Stretch Agent to keep it out of floor
elimvb Oct 1, 2021
36180c9
Added json files for stretch-arm testing
elimvb Oct 1, 2021
69d9140
Tweaked Stretch Agent dimensions even more acutely, and fixed FP420
elimvb Oct 1, 2021
f81fac5
Fixed Stretch Robot's FPSController so that its gizmo stays in same p…
elimvb Oct 4, 2021
363688e
Fixed reachable position usising collider center
AlvaroHG Oct 6, 2021
1e8df77
Fixed arm references for robot_arm_rig_v2_gripper
elimvb Oct 6, 2021
c9f196d
Expanded collision-check solution to make it more edge-case proof
elimvb Oct 6, 2021
f1b4d75
merging main into stretch_robot_restructured_arm_updated
Oct 8, 2021
21e74ee
switching builds to compresswithlz4 from uncompressed asset bundles
Oct 11, 2021
b25593b
Merge branch 'main' into stretch_robot_restructured_arm_updated
elimvb Oct 11, 2021
26d2fc2
Added second camera to Stretch Robot
elimvb Dec 2, 2021
128a072
Revert "Added second camera to Stretch Robot"
elimvb Dec 2, 2021
b3a89e4
Added secondary camera to Stretch Robot, and used third-party camera …
elimvb Dec 2, 2021
d2688ff
Revert "Added secondary camera to Stretch Robot, and used third-party…
elimvb Dec 3, 2021
482d1ce
Second attempt at mounted third-party camera addition
elimvb Dec 3, 2021
6ccbd41
Added third-party camera ImageSynthesis to SecondaryCamera
elimvb Dec 3, 2021
31f60f0
Added condition to enable SecondaryCamera's ImageSynthesis component …
elimvb Dec 3, 2021
b254dac
Added enableImageSynthesis boolean change
elimvb Dec 4, 2021
879ad7c
Temporary disabling of enableImageSynthesis
elimvb Dec 4, 2021
7675df8
Changed Stretch Agent's secondary camera to update its imagesynthesis…
elimvb Dec 7, 2021
37bc4dc
More direct reference to main camera's image-synthesis activation
elimvb Dec 7, 2021
54353b9
Using override method instead
elimvb Dec 8, 2021
03b26e9
Added context to updateThirdPartyCameraImageSynthesis, and made it pa…
elimvb Dec 8, 2021
7184aa4
Corrected visibility point conditions to include Stretch Arm edge case
elimvb Dec 14, 2021
525a1e4
Merge branch 'main' into erick/stretch_robot_restructured_arm_updated…
Jan 22, 2022
f698c1c
Merge branch 'main' into erick/stretch_robot_restructured_arm_updated…
Feb 1, 2022
ea2060a
Merge branch 'main' into stretch_robot_pre_merge
elimvb Feb 10, 2022
bda5253
Fixed rooms whose agent's starting locations clip into walls in Stret…
elimvb Feb 10, 2022
fe00552
Fixed 6_1 starting position
elimvb Feb 10, 2022
db38e37
Made secondary camera a non-child of primary camera, so camera rotati…
elimvb Feb 22, 2022
04b4785
Fixed initialization transform for secondary camera
elimvb Feb 22, 2022
a4ca647
Changed Secondary Camera position to match real-life position
elimvb Feb 22, 2022
546c50b
Tweaked Secondary Camera position again
elimvb Feb 22, 2022
cf23e65
modifying retrieval of ImageSynthesis component off of agent to use t…
Feb 25, 2022
41bffb4
Updated branch to new Unity version
elimvb Apr 13, 2022
367c9c2
Revert "Updated branch to new Unity version"
elimvb Apr 13, 2022
0db08ed
Removed UnityEngine.VR import from mirror script
elimvb Apr 13, 2022
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1 change: 0 additions & 1 deletion unity/Assets/MagicMirror/Prefab/MirrorCameraScript.cs
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
using UnityEngine;
using System.Collections;
using System.Collections.Generic;
using UnityEngine.VR;

public class MirrorCameraScript : MonoBehaviour
{
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2 changes: 1 addition & 1 deletion ...oTHOR Objects/RoboTHOR_Assets_SmallObjects/Target_SmallObjects/SprayBottle/Materials.meta
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4 changes: 2 additions & 2 deletions unity/Assets/Scenes/FloorPlan420_physics.unity
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m_UseRadianceAmbientProbe: 0
--- !u!157 &3
LightmapSettings:
Expand Down Expand Up @@ -5857,7 +5857,7 @@ PrefabInstance:
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