public void Create_UrdfJoint_Succeeds(UrdfJoint.JointTypes urdfJointType, ArticulationJointType articulationJointType)
{
GameObject linkObject = new GameObject("link");
UrdfJoint urdfJoint = UrdfJoint.Create(linkObject, urdfJointType);
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
Assert.IsNotNull(urdfJoint);
Assert.IsNotNull(articulationBody);
Assert.AreEqual(urdfJointType, urdfJoint.JointType);
Assert.AreEqual(articulationJointType, articulationBody.jointType);
Object.DestroyImmediate(linkObject);
}
public override void OnInspectorGUI()
{
GUILayout.Space(5);
urdfLink.IsBaseLink = EditorGUILayout.Toggle("Is Base Link", urdfLink.IsBaseLink);
GUILayout.Space(5);
EditorGUILayout.BeginVertical("HelpBox");
jointType = (UrdfJoint.JointTypes)EditorGUILayout.EnumPopup(
"Child Joint Type", jointType);
if (GUILayout.Button("Add child link (with joint)"))
{
UrdfLink childLink = UrdfLinkExtensions.Create(urdfLink.transform);
UrdfJoint.Create(childLink.gameObject, jointType);
}
EditorGUILayout.EndVertical();
}
public override void OnInspectorGUI()
{
urdfJoint = (UrdfJoint)target;
GUILayout.Space(5);
UrdfJoint.JointTypes newJointType = urdfJoint.JointType;
EditorGUILayout.BeginVertical("HelpBox");
newJointType = (UrdfJoint.JointTypes)EditorGUILayout.EnumPopup(
"Type of joint", newJointType);
if (newJointType != urdfJoint.JointType)
{
if (EditorUtility.DisplayDialog("Confirm joint type change",
"Are you sure you want to change the joint type? This will erase all information currently stored in the joint.",
"Continue", "Cancel"))
{
UrdfJoint.ChangeJointType(urdfJoint.gameObject, newJointType);
}
}
EditorGUILayout.EndVertical();
showDetails = EditorGUILayout.Foldout(showDetails, "Joint URDF Configuration", true);
if (showDetails)
{
urdfJoint.JointName = EditorGUILayout.TextField("Name", urdfJoint.JointName);
if (urdfJoint.JointType != UrdfJoint.JointTypes.Fixed)
{
GUILayout.BeginVertical("HelpBox");
}
switch (urdfJoint.JointType)
{
case UrdfJoint.JointTypes.Fixed:
break;
case UrdfJoint.JointTypes.Continuous:
DisplayDynamicsMessage("HingeJoint > Spring > Damper (for damping) and Spring (for friction)");
DisplayAxisMessage("HingeJoint > Axis");
break;
case UrdfJoint.JointTypes.Revolute:
DisplayDynamicsMessage("HingeJoint > Spring > Damper (for damping) and Spring (for friction)");
DisplayAxisMessage("HingeJoint > Axis");
DisplayRequiredLimitMessage("Hinge Joint Limits Manager > Large Angle Limit / Max");
break;
case UrdfJoint.JointTypes.Floating:
DisplayDynamicsMessage("ConfigurableJoint > xDrive > Position Damper (for Damping) and Position Spring (for friction)");
break;
case UrdfJoint.JointTypes.Prismatic:
DisplayDynamicsMessage("ConfigurableJoint > xDrive > Position Damper (for Damping) and Position Spring (for friction)");
DisplayAxisMessage("ConfigurableJoint > Axis");
DisplayRequiredLimitMessage("Prismatic Joint Limits Manager > Position Limit Min / Max");
break;
case UrdfJoint.JointTypes.Planar:
DisplayDynamicsMessage("ConfigurableJoint > xDrive > Position Damper (for Damping) and Position Spring (for friction)");
DisplayAxisMessage("ConfigurableJoint > Axis and Secondary Axis");
DisplayRequiredLimitMessage("ConfigurableJoint > Linear Limit > Limit");
break;
}
if (urdfJoint.JointType != UrdfJoint.JointTypes.Fixed)
{
GUILayout.EndVertical();
}
}
}
public static void Create(GameObject linkObject, UrdfJoint.JointTypes jointType, Joint joint)
{
Rigidbody parentRigidbody = linkObject.transform.parent.gameObject.GetComponent <Rigidbody>();
if (parentRigidbody == null)
{
Debug.LogError("No rigidbody (intertial) in joints parent link, not adding joint.");
return;
}
if (jointType == UrdfJoint.JointTypes.Fixed)
{
UnityEngine.Joint unityJoint = linkObject.AddComponent <FixedJoint>();
unityJoint.autoConfigureConnectedAnchor = true;
unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent <Rigidbody>();
}
else if (jointType == UrdfJoint.JointTypes.Continuous)
{
UnityEngine.Joint unityJoint = linkObject.AddComponent <HingeJoint>();
unityJoint.autoConfigureConnectedAnchor = true;
unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent <Rigidbody>();
unityJoint.axis = (joint.axis != null) ? GetAxis(joint.axis) : GetDefaultAxis();
JointInterface jointInterface = linkObject.AddComponent <JointInterface>();
jointInterface.JointName = joint.name;
jointInterface.JointType = "continuous";
}
else if (jointType == UrdfJoint.JointTypes.Revolute)
{
HingeJoint unityJoint = linkObject.AddComponent <HingeJoint>();
unityJoint.autoConfigureConnectedAnchor = true;
unityJoint.useLimits = true;
unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent <Rigidbody>();
unityJoint.axis = (joint.axis != null) ? GetAxis(joint.axis) : GetDefaultAxis();
//HingeJointLimitsManager limitsManager = linkObject.AddComponent<HingeJointLimitsManager>();
//if (joint.limit != null)
//{
// limitsManager.InitializeLimits(joint.limit, unityJoint);
//}
JointInterface jointInterface = linkObject.AddComponent <JointInterface>();
jointInterface.JointName = joint.name;
jointInterface.JointType = "revolute";
jointInterface.Axis = (joint.axis != null) ? GetAxis(joint.axis) : GetDefaultAxis();
if (joint.limit != null)
{
jointInterface.EnableJointLimits = true;
jointInterface.UpperLimit = joint.limit.upper;
jointInterface.LowerLimit = joint.limit.lower;
}
}
else if (jointType == UrdfJoint.JointTypes.Prismatic)
{
ConfigurableJoint unityJoint = linkObject.AddComponent <ConfigurableJoint>();
unityJoint.autoConfigureConnectedAnchor = true;
unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent <Rigidbody>();
unityJoint.axis = (joint.axis != null) ? GetAxis(joint.axis) : GetDefaultAxis();
JointInterface jointInterface = linkObject.AddComponent <JointInterface>();
jointInterface.JointName = joint.name;
jointInterface.JointType = "prismatic";
jointInterface.Axis = (joint.axis != null) ? GetAxis(joint.axis) : GetDefaultAxis();
if (joint.limit != null)
{
jointInterface.EnableJointLimits = true;
jointInterface.UpperLimit = joint.limit.upper;
jointInterface.LowerLimit = joint.limit.lower;
}
}
else
{
Debug.LogError("Joint type not yet supported, not adding joint." + jointType);
}
}
