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);
}
}
private static Robot ExportRobotData(this UrdfRobot urdfRobot)
{
#if UNITY_EDITOR
Robot robot = new Robot(urdfRobot.FilePath, urdfRobot.gameObject.name);
List <string> linkNames = new List <string>();
foreach (UrdfLink urdfLink in urdfRobot.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 = urdfRobot.GetComponentInChildren <UrdfPlugins>().ExportPluginsData();
return(robot);
#else
Debug.LogError("URDF Export is only available in Editor.");
return(null);
#endif
}
public static UrdfJoint Create(GameObject linkObject, JointTypes jointType, Joint joint = null)
{
#if UNITY_2020_1_OR_NEWER
#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);
}
return(urdfJoint);
}
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;
}
#if UNITY_2020_1_OR_NEWER
#else
UnityEngine.Joint unityJoint = linkObject.GetComponent <UnityEngine.Joint>();
unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent <Rigidbody>();
unityJoint.autoConfigureConnectedAnchor = true;
#endif
return(urdfJoint);
}
