private static UrdfJoint AddCorrectJointType(GameObject linkObject, JointTypes jointType)
{
UrdfJoint urdfJoint = null;
switch (jointType)
{
case JointTypes.Fixed:
urdfJoint = UrdfJointFixed.Create(linkObject);
break;
case JointTypes.Continuous:
urdfJoint = UrdfJointContinuous.Create(linkObject);
break;
case JointTypes.Revolute:
urdfJoint = UrdfJointRevolute.Create(linkObject);
break;
case JointTypes.Floating:
urdfJoint = UrdfJointFloating.Create(linkObject);
break;
case JointTypes.Prismatic:
urdfJoint = UrdfJointPrismatic.Create(linkObject);
break;
case JointTypes.Planar:
urdfJoint = UrdfJointPlanar.Create(linkObject);
break;
}
UnityEngine.Joint unityJoint = linkObject.GetComponent<UnityEngine.Joint>();
unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent<Rigidbody>();
unityJoint.autoConfigureConnectedAnchor = true;
return urdfJoint;
}
private void ImportLinkData(Link link, Joint joint)
{
if (link.inertial == null && joint == null)
{
isBaseLink = true;
}
gameObject.name = link.name;
if (joint?.origin != null)
{
UrdfOrigin.ImportOriginData(transform, joint.origin);
}
if (link.inertial != null)
{
UrdfInertial.Create(gameObject, link.inertial);
if (joint != null)
{
UrdfJoint.Create(gameObject, UrdfJoint.GetJointType(joint.type), joint);
}
}
else if (joint != null)
{
Debug.LogWarning("No Joint Component will be created in GameObject \"" + gameObject.name + "\" as it has no Rigidbody Component.\n"
+ "Please define an Inertial for Link \"" + link.name + "\" in the URDF file to create a Rigidbody Component.\n", gameObject);
}
foreach (Joint childJoint in link.joints)
{
Link child = childJoint.ChildLink;
UrdfLink.Create(transform, child, childJoint);
}
}
public static void Create(GameObject linkObject, JointTypes jointType, Joint joint = null)
{
Rigidbody parentRigidbody = linkObject.transform.parent.gameObject.GetComponent<Rigidbody>();
if (parentRigidbody == null) return;
UrdfJoint urdfJoint = AddCorrectJointType(linkObject, jointType);
if (joint != null)
{
urdfJoint.JointName = joint.name;
urdfJoint.ImportJointData(joint);
}
}
public static void Create(GameObject linkObject, JointTypes jointType, Joint joint = null)
{
#if UNITY_2020_1_OR_NEWER
//ArticulationBody parentRigidbody = linkObject.transform.parent.gameObject.GetComponent<ArticulationBody>();
#else
Rigidbody parentRigidbody = linkObject.transform.parent.gameObject.GetComponent <Rigidbody>();
if (parentRigidbody == null)
{
return;
}
#endif
UrdfJoint urdfJoint = AddCorrectJointType(linkObject, jointType);
if (joint != null)
{
urdfJoint.jointName = joint.name;
urdfJoint.ImportJointData(joint);
}
}
private Robot ExportRobotData()
{
Robot robot = new Robot(filePath, gameObject.name);
List <string> linkNames = new List <string>();
foreach (UrdfLink urdfLink in gameObject.GetComponentsInChildren <UrdfLink>())
{
//Link export
if (linkNames.Contains(urdfLink.name))
{
EditorUtility.DisplayDialog("URDF Export Error",
"URDF export failed. There are several links with the name " +
urdfLink.name + ". Make sure all link names are unique before exporting this robot.",
"Ok");
return(null);
}
robot.links.Add(urdfLink.ExportLinkData());
linkNames.Add(urdfLink.name);
//Joint export
UrdfJoint urdfJoint = urdfLink.gameObject.GetComponent <UrdfJoint>();
if (urdfJoint != null)
{
robot.joints.Add(urdfJoint.ExportJointData());
}
else if (!urdfLink.isBaseLink)
{
//Make sure that links with no rigidbodies are still connected to the robot by a default joint
robot.joints.Add(UrdfJoint.ExportDefaultJoint(urdfLink.transform));
}
}
robot.materials = UrdfMaterial.Materials.Values.ToList();
robot.plugins = GetComponentInChildren <UrdfPlugins>().ExportPluginsData();
return(robot);
}
private static UrdfJoint AddCorrectJointType(GameObject linkObject, JointTypes jointType)
{
UrdfJoint urdfJoint = null;
switch (jointType)
{
case JointTypes.Fixed:
urdfJoint = UrdfJointFixed.Synchronize(linkObject);
break;
case JointTypes.Continuous:
urdfJoint = UrdfJointContinuous.Synchronize(linkObject);
break;
case JointTypes.Revolute:
urdfJoint = UrdfJointRevolute.Synchronize(linkObject);
break;
case JointTypes.Floating:
urdfJoint = UrdfJointFloating.Synchronize(linkObject);
break;
case JointTypes.Prismatic:
urdfJoint = UrdfJointPrismatic.Synchronize(linkObject);
break;
case JointTypes.Planar:
urdfJoint = UrdfJointPlanar.Synchronize(linkObject);
break;
}
//SynchTodo: This assignment probably does not break stuff, but is not necessary.
UnityEngine.Joint unityJoint = linkObject.GetComponent <UnityEngine.Joint>();
unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent <Rigidbody>();
unityJoint.autoConfigureConnectedAnchor = true;
return(urdfJoint);
}
