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Unity-Technologies / URDF-Importer

URDF importer
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NullReferenceException when adding DH parameters for FKRobot #227

Closed courtneymcbeth closed 3 months ago

courtneymcbeth commented 5 months ago

Bug Description I am getting a NullReferenceException when I press the "Add DH Parameter" button in the AddDhParameterWindow popup of the FKRobot script component. This happens regardless of what values are in the DH parameter text boxes.

I have imported a UR5e from URDF and it appears to have been imported correctly. The controller script works correctly as well. The URDF was generated from the ur_description ROS package provided by Universal Robots.

To Reproduce Steps to reproduce the behavior:

  1. Add FKRobot script component. The current angles list is empty at first.
  2. Click on "Add DH Parameters" to open the AddDhParameterWindow popup.
  3. Add the first set of DH parameters (I get the same error no matter what values I use).
  4. Click on "Add DH Parameter". At this point, nothing gets added to the DH parameter list and the NullReferenceException occurs.

Console logs / stack traces

NullReferenceException: Object reference not set to an instance of an object
Unity.Robotics.UrdfImporter.Editor.AddDhParameterWindow.OnGUI () (at ./Library/PackageCache/com.unity.robotics.urdf-importer@90f353e435/Editor/MenuItems/AddDhParameterWindow.cs:38)
UnityEditor.HostView.InvokeOnGUI (UnityEngine.Rect onGUIPosition) (at /Users/bokken/build/output/unity/unity/Editor/Mono/HostView.cs:512)
UnityEditor.DockArea.DrawView (UnityEngine.Rect dockAreaRect) (at /Users/bokken/build/output/unity/unity/Editor/Mono/GUI/DockArea.cs:385)
UnityEditor.DockArea.OldOnGUI () (at /Users/bokken/build/output/unity/unity/Editor/Mono/GUI/DockArea.cs:376)
UnityEngine.UIElements.IMGUIContainer.DoOnGUI (UnityEngine.Event evt, UnityEngine.Matrix4x4 parentTransform, UnityEngine.Rect clippingRect, System.Boolean isComputingLayout, UnityEngine.Rect layoutSize, System.Action onGUIHandler, System.Boolean canAffectFocus) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/IMGUIContainer.cs:376)
UnityEngine.UIElements.IMGUIContainer.HandleIMGUIEvent (UnityEngine.Event e, UnityEngine.Matrix4x4 worldTransform, UnityEngine.Rect clippingRect, System.Action onGUIHandler, System.Boolean canAffectFocus) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/IMGUIContainer.cs:676)
UnityEngine.UIElements.IMGUIContainer.HandleIMGUIEvent (UnityEngine.Event e, System.Action onGUIHandler, System.Boolean canAffectFocus) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/IMGUIContainer.cs:648)
UnityEngine.UIElements.IMGUIContainer.HandleIMGUIEvent (UnityEngine.Event e, System.Boolean canAffectFocus) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/IMGUIContainer.cs:641)
UnityEngine.UIElements.IMGUIContainer.SendEventToIMGUIRaw (UnityEngine.UIElements.EventBase evt, System.Boolean canAffectFocus, System.Boolean verifyBounds) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/IMGUIContainer.cs:601)
UnityEngine.UIElements.IMGUIContainer.SendEventToIMGUI (UnityEngine.UIElements.EventBase evt, System.Boolean canAffectFocus, System.Boolean verifyBounds) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/IMGUIContainer.cs:590)
UnityEngine.UIElements.IMGUIContainer.ProcessEvent (UnityEngine.UIElements.EventBase evt) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/IMGUIContainer.cs:514)
UnityEngine.UIElements.CallbackEventHandler.HandleEvent (UnityEngine.UIElements.EventBase evt) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/Events/EventHandler.cs:267)
UnityEngine.UIElements.CallbackEventHandler.HandleEventAtCurrentTargetAndPhase (UnityEngine.UIElements.EventBase evt) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/Events/EventHandler.cs:189)
UnityEngine.UIElements.CallbackEventHandler.HandleEventAtTargetPhase (UnityEngine.UIElements.EventBase evt) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/Events/EventHandler.cs:173)
UnityEngine.UIElements.MouseCaptureDispatchingStrategy.DispatchEvent (UnityEngine.UIElements.EventBase evt, UnityEngine.UIElements.IPanel panel) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/Events/MouseCaptureDispatchingStrategy.cs:88)
UnityEngine.UIElements.EventDispatcher.ApplyDispatchingStrategies (UnityEngine.UIElements.EventBase evt, UnityEngine.UIElements.IPanel panel, System.Boolean imguiEventIsInitiallyUsed) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/EventDispatcher.cs:422)
UnityEngine.UIElements.EventDispatcher.ProcessEvent (UnityEngine.UIElements.EventBase evt, UnityEngine.UIElements.IPanel panel) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/EventDispatcher.cs:363)
UnityEngine.UIElements.EventDispatcher.ProcessEventQueue () (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/EventDispatcher.cs:321)
UnityEngine.UIElements.EventDispatcher.OpenGate () (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/EventDispatcher.cs:285)
UnityEngine.UIElements.EventDispatcherGate.Dispose () (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/EventDispatcher.cs:77)
UnityEngine.UIElements.EventDispatcher.ProcessEvent (UnityEngine.UIElements.EventBase evt, UnityEngine.UIElements.IPanel panel) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/EventDispatcher.cs:413)
UnityEngine.UIElements.EventDispatcher.Dispatch (UnityEngine.UIElements.EventBase evt, UnityEngine.UIElements.IPanel panel, UnityEngine.UIElements.DispatchMode dispatchMode) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/EventDispatcher.cs:229)
UnityEngine.UIElements.BaseVisualElementPanel.SendEvent (UnityEngine.UIElements.EventBase e, UnityEngine.UIElements.DispatchMode dispatchMode) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/Panel.cs:515)
UnityEngine.UIElements.UIElementsUtility.DoDispatch (UnityEngine.UIElements.BaseVisualElementPanel panel) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/UIElementsUtility.cs:477)
UnityEngine.UIElements.UIElementsUtility.UnityEngine.UIElements.IUIElementsUtility.ProcessEvent (System.Int32 instanceID, System.IntPtr nativeEventPtr, System.Boolean& eventHandled) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/UIElementsUtility.cs:205)
UnityEngine.UIElements.UIEventRegistration.ProcessEvent (System.Int32 instanceID, System.IntPtr nativeEventPtr) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/UIElementsUtility.cs:74)
UnityEngine.UIElements.UIEventRegistration+<>c.<.cctor>b__1_2 (System.Int32 i, System.IntPtr ptr) (at /Users/bokken/build/output/unity/unity/ModuleOverrides/com.unity.ui/Core/UIElementsUtility.cs:28)
UnityEngine.GUIUtility.ProcessEvent (System.Int32 instanceID, System.IntPtr nativeEventPtr, System.Boolean& result) (at /Users/bokken/build/output/unity/unity/Modules/IMGUI/GUIUtility.cs:190)

Expected behavior I am expecting the DH parameters to be added to the list below the input boxes but that is not occurring.

Screenshots This screenshots shows the popup window in which the error occurs and the resulting error in the lower left. No parameters are added to the list when the "Add DH parameter" button is pressed.

Screenshot 2024-06-13 at 11 09 28 AM

Environment (please complete the following information, where applicable):

If there's anything I'm missing, please let me know.