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Merge pull request #1 from TalTech-IVAR-Lab/release/v1.1.7
Release Robot Programming v1.1.7
2 parents 91f2259 + a1157df commit a13d64d

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‎.github/workflows/publish_package.yml‎

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‎.github/workflows/release.yml‎

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name: Publish Git package release
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on:
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push:
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tags:
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- "v*"
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permissions:
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contents: write
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concurrency:
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group: release-${{ github.repository }}-${{ github.ref }}
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cancel-in-progress: false
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jobs:
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release:
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runs-on: ubuntu-latest
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timeout-minutes: 5
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steps:
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- name: Validate tag against package metadata
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env:
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GH_TOKEN: ${{ github.token }}
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run: |
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set -euo pipefail
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package_json="$({
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gh api \
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-H "Accept: application/vnd.github.raw+json" \
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"/repos/${GITHUB_REPOSITORY}/contents/package.json?ref=${GITHUB_SHA}"
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})"
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package_name="$(jq -er '.name' <<<"${package_json}")"
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package_version="$(jq -er '.version' <<<"${package_json}")"
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expected_tag="v${package_version}"
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semver_pattern='^(0|[1-9][0-9]*)\.(0|[1-9][0-9]*)\.(0|[1-9][0-9]*)(-((0|[1-9][0-9]*|[0-9]*[A-Za-z-][0-9A-Za-z-]*)(\.(0|[1-9][0-9]*|[0-9]*[A-Za-z-][0-9A-Za-z-]*))*))?(\+([0-9A-Za-z-]+(\.[0-9A-Za-z-]+)*))?$'
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if [[ ! "${package_version}" =~ ${semver_pattern} ]]; then
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echo "Package ${package_name} has invalid SemVer version ${package_version}." >&2
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exit 1
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fi
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if [[ "${GITHUB_REF_NAME}" != "${expected_tag}" ]]; then
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echo "Tag ${GITHUB_REF_NAME} does not match ${package_name} version ${package_version}." >&2
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exit 1
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fi
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- name: Create GitHub release
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env:
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GH_TOKEN: ${{ github.token }}
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run: |
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set -euo pipefail
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if gh release view "${GITHUB_REF_NAME}" --repo "${GITHUB_REPOSITORY}" >/dev/null 2>&1; then
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echo "Release ${GITHUB_REF_NAME} already exists."
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exit 0
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fi
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release_options=(
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--repo "${GITHUB_REPOSITORY}"
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--verify-tag
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--generate-notes
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--title "${GITHUB_REF_NAME}"
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)
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version_without_build="${GITHUB_REF_NAME%%+*}"
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if [[ "${version_without_build}" == *-* ]]; then
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release_options+=(--prerelease)
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fi
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gh release create "${GITHUB_REF_NAME}" "${release_options[@]}"

‎.releaserc.yml‎

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‎README.md‎

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# Unity ROS Robot Programming
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Collection of scripts to record and play back trajectories on connected ROS Robots.
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## Installation
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Add the package and its TalTech dependencies directly to the Unity project's
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`Packages/manifest.json`:
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```json
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{
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"dependencies": {
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"com.cysharp.unitask": "https://github.com/Cysharp/UniTask.git?path=/src/UniTask/Assets/Plugins/UniTask#2.3.1",
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"ee.taltech.ivar.robotics.moveit": "https://github.com/TalTech-IVAR-Lab/Unity-MoveIt-Integration.git#v1.3.0",
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"ee.taltech.ivar.robotics.ros-industrial": "https://github.com/TalTech-IVAR-Lab/Unity-ROS-Industrial-Integration.git#v1.3.1",
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"ee.taltech.ivar.robotics.ros-robot-programming": "https://github.com/TalTech-IVAR-Lab/Unity-ROS-Robot-Programming.git#v1.1.7",
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"io.extendreality.zinnia.unity": "https://github.com/ExtendRealityLtd/Zinnia.Unity.git#v2.0.0"
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}
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}
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```
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Unity does not resolve version-only transitive dependencies from Git. Keep all
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five entries in the project manifest unless another package source provides them.

‎Runtime/PathExecutor.cs‎

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{
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IsExecuting = true;
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var pathPoses = pathSelector.SelectedPath.pointsPose;
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Debug.Log($"Starting executing '{pathSelector.SelectedPath}'...");
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for (var i = 0; i < pathPoses.Count; i++)
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try
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{
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var pose = pathPoses[i];
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var pathPoses = pathSelector.SelectedPath.pointsPose;
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// Convert pose back to world space before using it in the request
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var worldPose = new Pose
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{
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position = pathCoordinateSpaceOrigin.TransformPoint(pose.position),
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rotation = pathCoordinateSpaceOrigin.rotation * pose.rotation
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};
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Debug.Log($"Starting executing '{pathSelector.SelectedPath}'...");
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Debug.Log($"Starting motion to point {i + 1}/{pathPoses.Count}...");
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bool motionSuccessful = await robotController.MoveCartesian(worldPose);
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if (!motionSuccessful)
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for (var i = 0; i < pathPoses.Count; i++)
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{
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Debug.LogError($"Motion to point {i + 1} failed. Please check the logs to identify the issue.\n" +
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$"Aborting the rest of the trajectory execution.");
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break;
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var pose = pathPoses[i];
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// Convert pose back to world space before using it in the request
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var worldPose = new Pose
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{
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position = pathCoordinateSpaceOrigin.TransformPoint(pose.position),
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rotation = pathCoordinateSpaceOrigin.rotation * pose.rotation
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};
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Debug.Log($"PathExecutor point {i + 1}/{pathPoses.Count}: savedLocalPos={pose.position} savedLocalRot={pose.rotation.eulerAngles} " +
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$"origin={pathCoordinateSpaceOrigin.name} originWorldPos={pathCoordinateSpaceOrigin.position} originWorldRot={pathCoordinateSpaceOrigin.rotation.eulerAngles} " +
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$"executedWorldPos={worldPose.position} executedWorldRot={worldPose.rotation.eulerAngles}", this);
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Debug.Log($"Starting motion to point {i + 1}/{pathPoses.Count}...");
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bool motionSuccessful;
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if (i == 0)
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{
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// The first move is an approach from the robot's arbitrary current pose to the start of the
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// programmed path. It is not a visible path segment in the VR program, so do not force it to be
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// a Cartesian LIN move. LIN is preserved for all programmed point-to-point segments below.
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motionSuccessful = await robotController.MoveCartesianPtp(worldPose);
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}
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else
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{
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motionSuccessful = await robotController.MoveCartesian(worldPose);
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}
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if (!motionSuccessful)
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{
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Debug.LogError($"Motion to point {i + 1} failed. Please check the logs to identify the issue.\n" +
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$"Aborting the rest of the trajectory execution.");
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break;
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}
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Debug.Log($"Moved to point {i + 1}/{pathPoses.Count}.");
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}
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Debug.Log($"Moved to point {i + 1}/{pathPoses.Count}.");
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}
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Debug.Log($"Finished executing path '{pathSelector.SelectedPath}'.");
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IsExecuting = false;
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Debug.Log($"Finished executing path '{pathSelector.SelectedPath}'.");
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}
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finally
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{
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IsExecuting = false;
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}
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}
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#endregion
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}
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}

‎Runtime/PathTracingTool.cs‎

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rotation = Quaternion.Inverse(pathCoordinateSpaceOrigin.rotation) * tool.rotation
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};
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Debug.Log($"PathTracingTool save: toolWorldPos={tool.position} toolWorldRot={tool.rotation.eulerAngles} " +
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$"origin={pathCoordinateSpaceOrigin.name} originWorldPos={pathCoordinateSpaceOrigin.position} originWorldRot={pathCoordinateSpaceOrigin.rotation.eulerAngles} " +
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$"savedLocalPos={pathPointPose.position} savedLocalRot={pathPointPose.rotation.eulerAngles}", this);
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// Save to path
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SelectedPath.pointsPose.Add(pathPointPose);
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PathFileHandler.SavePathToDefaultLocation(SelectedPath);

‎package.json‎

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{
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"name": "ee.taltech.ivar.robotics.ros-robot-programming",
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"version": "1.1.6",
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"version": "1.1.7",
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"displayName": "ROS Robot Programming",
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"description": "Collection of scripts to record and play back trajectories on connected ROS Robots.",
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"unity": "2020.3",
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"url": "https://gitlab.com/JGroxz"
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},
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"dependencies": {
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"ee.taltech.ivar.robotics.moveit": "1.2.10",
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"ee.taltech.ivar.robotics.moveit": "1.3.0",
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"io.extendreality.zinnia.unity": "2.0.0"
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},
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"samples": [],

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