Support package dictionaries

unity/Assets/URDF-Loader/README.md

@@ -19,8 +19,10 @@ Reads and processes the urdf at the given path, returning a `URDFRobot` that des
 ##### urdfpath : String
 The path to the URDF file relative to the specified package directory.
 
-##### package : String
-The path representing the package:// directory to load package:// relative files.
+##### package : String | Dictionary<string, string>
+If the package is just a string then it replaces the `package://` portion of the path.
+
+If it is a dictionary then it represents a list of packages by `packageName : packagePath` so that multiple packages can be specified.
 
 ##### options : URDFLoader.Options
 
@@ -35,7 +37,7 @@ Same function as above, but this function takes the raw contents of the urdf fil
 
 The urdf content to parse into a robot.
 
-##### package : String
+##### package : String | Dictionary<string, string>
 
 See `LoadURDFRobot`.
 

unity/Assets/example/LoadRobot.cs

@@ -1,5 +1,7 @@
 using UnityEngine;
 using System.IO;
+using System.Collections.Generic;
+using System;
 
 public class LoadRobot : MonoBehaviour {
     enum Axis {
@@ -11,8 +13,14 @@ enum Axis {
         NEG_Z = -3
     }
 
+    [Serializable]
+    struct Package {
+        public string name;
+        public string path;
+    }
+
     [SerializeField]
-    string _packagePath = "";
+    List<Package> _packages;
 
     [SerializeField]
     string _fileName = "";
@@ -23,16 +31,23 @@ enum Axis {
     public URDFRobot robot;
 
     void Awake() {
-        string packagePath = _packagePath;
-        if (packagePath.IndexOf("https://") != 0 && packagePath.IndexOf("https://") != 0) {
-            packagePath = Path.Combine(Application.dataPath, packagePath);
+
+        Dictionary<string, string> packages = new Dictionary<string, string>();
+        foreach (var pkg in _packages) {
+
+            string packagePath = pkg.path;
+            if (packagePath.IndexOf("https://") != 0 && packagePath.IndexOf("https://") != 0) {
+                packagePath = Path.Combine(Application.dataPath, packagePath);
+            }
+            packages[pkg.name] = packagePath;
+
         }
 
         string urdfPath = _fileName;
         if (urdfPath.IndexOf("https://") != 0 && urdfPath.IndexOf("https://") != 0) {
             urdfPath = Path.Combine(Application.dataPath, urdfPath);
         }
-        robot = CreateRobot(urdfPath, packagePath);
+        robot = CreateRobot(urdfPath, packages);
 
         bool positive = _upAxis > 0;
         Axis axis = !positive ? (Axis)(-1 * (int)_upAxis) : _upAxis;
@@ -45,9 +60,9 @@ void Awake() {
         robot.transform.rotation = Quaternion.Euler(angles);
     }
 
-    virtual protected URDFRobot CreateRobot(string urdf, string package) {
+    virtual protected URDFRobot CreateRobot(string urdf, Dictionary<string, string> packages) {
 
-        URDFRobot ur = URDFLoader.LoadRobot(urdf, package);
+        URDFRobot ur = URDFLoader.LoadRobot(urdf, packages);
         ur.name = urdf;
 
         return ur;

unity/Assets/example/LoadWebRobot.cs

@@ -2,20 +2,21 @@
 using UnityEngine.Networking;
 using System.IO;
 using System.Collections;
+using System.Collections.Generic;
 using System;
 
 public class LoadWebRobot : LoadRobot {
 
-    override protected URDFRobot CreateRobot(string urdfPath, string package) {
+    override protected URDFRobot CreateRobot(string urdfPath, Dictionary<string, string> packages) {
 
         URDFRobot ujl = new GameObject("Pending Robot").AddComponent<URDFRobot>();
-        StartCoroutine(DownloadRobot(urdfPath, package, ujl));
+        StartCoroutine(DownloadRobot(urdfPath, packages, ujl));
 
         return ujl;
 
     }
 
-    IEnumerator DownloadRobot(string urdfPath, string package, URDFRobot ur) {
+    IEnumerator DownloadRobot(string urdfPath, Dictionary<string, string> packages, URDFRobot ur) {
 
         using (UnityWebRequest www = UnityWebRequest.Get(urdfPath)) {
 
@@ -36,7 +37,7 @@ IEnumerator DownloadRobot(string urdfPath, string package, URDFRobot ur) {
                     target = ur
                 };
 
-                URDFLoader.BuildRobot(www.downloadHandler.text, package, opt);
+                URDFLoader.BuildRobot(www.downloadHandler.text, packages, opt);
 
             }