private static void ImportLinkData(this UrdfLink urdfLink, Link link, Joint joint) { if (link.inertial == null && joint == null) { urdfLink.IsBaseLink = true; } urdfLink.gameObject.name = link.name; if (joint?.origin != null) { UrdfOrigin.ImportOriginData(urdfLink.transform, joint.origin); } if (link.inertial != null) { UrdfInertial.Create(urdfLink.gameObject, link.inertial); if (joint != null) { UrdfJoint.Create(urdfLink.gameObject, UrdfJoint.GetJointType(joint.type), joint); } } else if (joint != null) { UrdfJoint.Create(urdfLink.gameObject, UrdfJoint.GetJointType(joint.type), joint); } }
public static Link ExportLinkData(this UrdfLink urdfLink) { if (urdfLink.transform.localScale != Vector3.one) { Debug.LogWarning("Only visuals should be scaled. Scale on link \"" + urdfLink.gameObject.name + "\" cannot be saved to the URDF file.", urdfLink.gameObject); } UrdfInertial urdfInertial = urdfLink.gameObject.GetComponent <UrdfInertial>(); Link link = new Link(urdfLink.gameObject.name) { visuals = urdfLink.GetComponentInChildren <UrdfVisuals>().ExportVisualsData(), collisions = urdfLink.GetComponentInChildren <UrdfCollisions>().ExportCollisionsData(), inertial = urdfInertial == null ? null : urdfInertial.ExportInertialData() }; return(link); }
public static void Create() { CreateTag(); GameObject robotGameObject = new GameObject("Robot"); SetTag(robotGameObject); robotGameObject.AddComponent <UrdfRobot>(); robotGameObject.AddComponent <Unity.Robotics.UrdfImporter.Control.Controller>(); UrdfPlugins.Create(robotGameObject.transform); UrdfLink urdfLink = UrdfLinkExtensions.Create(robotGameObject.transform).GetComponent <UrdfLink>(); urdfLink.name = "base_link"; urdfLink.IsBaseLink = true; }
public static GameObject Create(Transform parent, Link link = null, Joint joint = null) { GameObject linkObject = new GameObject("link"); linkObject.transform.SetParentAndAlign(parent); UrdfLink urdfLink = linkObject.AddComponent <UrdfLink>(); UrdfVisualsExtensions.Create(linkObject.transform, link?.visuals); UrdfCollisionsExtensions.Create(linkObject.transform, link?.collisions); if (link != null) { urdfLink.ImportLinkData(link, joint); } else { UrdfInertial.Create(linkObject); #if UNITY_EDITOR UnityEditor.EditorGUIUtility.PingObject(linkObject); #endif } return(linkObject); }