// Initializes import pipeline and reads the urdf file.
private static ImportPipelineData ImportPipelineInit(string filename, ImportSettings settings, bool loadStatus, bool forceRuntimeMode)
{
ImportPipelineData im = new ImportPipelineData();
im.settings = settings;
im.loadStatus = loadStatus;
im.wasRuntimeMode = RuntimeUrdf.IsRuntimeMode();
im.forceRuntimeMode = forceRuntimeMode;
if (forceRuntimeMode)
{
RuntimeUrdf.SetRuntimeMode(true);
}
im.robot = new Robot(filename);
if (!UrdfAssetPathHandler.IsValidAssetPath(im.robot.filename))
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
if (forceRuntimeMode)
{ // set runtime mode back to what it was
RuntimeUrdf.SetRuntimeMode(im.wasRuntimeMode);
}
return(null);
}
return(im);
}
// Post creation stuff: add to parent, fix axis and add collision exceptions.
private static void ImportPipelinePostCreate(ImportPipelineData im)
{
#if UNITY_EDITOR
GameObjectUtility.SetParentAndAlign(im.robotGameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(im.robotGameObject, "Create " + im.robotGameObject.name);
Selection.activeObject = im.robotGameObject;
#endif
CorrectAxis(im.robotGameObject);
CreateCollisionExceptions(im.robot, im.robotGameObject);
if (im.forceRuntimeMode)
{ // set runtime mode back to what it was
RuntimeUrdf.SetRuntimeMode(im.wasRuntimeMode);
}
}
/// <summary>
/// Create a Robot gameobject from filename in runtime.
/// It is a synchronous (blocking) function and only returns after the gameobject has been created.
/// </summary>
/// <param name="filename">URDF filename</param>
/// <param name="settings">Import Settings</param>
/// <returns> Robot game object</returns>
public static GameObject CreateRuntime(string filename, ImportSettings settings)
{
ImportPipelineData im = ImportPipelineInit(filename, settings, false, true);
if (im == null)
{
return(null);
}
ImportPipelineCreateObject(im);
while (ProcessJointStack(im))
{// process the stack until finished.
}
ImportPipelinePostCreate(im);
return(im.robotGameObject);
}
/// <summary>
/// Coroutine to create a Robot game object from the urdf file
/// </summary>
/// <param name="filename">URDF filename</param>
/// <param name="settings">Import Settings</param>
/// <param name="loadStatus">If true, will show the progress of import step by step</param>
/// <param name="forceRuntimeMode">
/// When true, runs the runtime loading mode even in Editor. When false, uses the default behavior,
/// i.e. runtime will be enabled in standalone build and disable when running in editor.
/// In runtime mode, the Controller component of the robot will be added but not activated automatically and has to be enabled manually.
/// This is to allow initializing the controller values (stiffness, damping, etc.) before the controller.Start() is called
/// </param>
/// <returns></returns>
public static IEnumerator <GameObject> Create(string filename, ImportSettings settings, bool loadStatus = false, bool forceRuntimeMode = false)
{
ImportPipelineData im = ImportPipelineInit(filename, settings, loadStatus, forceRuntimeMode);
if (im == null)
{
yield break;
}
ImportPipelineCreateObject(im);
while (ProcessJointStack(im))
{
if (loadStatus)
{
yield return(null);
}
}
ImportPipelinePostCreate(im);
yield return(im.robotGameObject);
}
// Creates the stack of robot joints. Should be called iteratively until false is returned.
private static bool ProcessJointStack(ImportPipelineData im)
{
if (im.importStack == null)
{
im.importStack = new Stack <Tuple <Link, Transform, Joint> >();
im.importStack.Push(new Tuple <Link, Transform, Joint>(im.robot.root, im.robotGameObject.transform, null));
}
if (im.importStack.Count != 0)
{
Tuple <Link, Transform, Joint> currentLink = im.importStack.Pop();
GameObject importedLink = UrdfLinkExtensions.Create(currentLink.Item2, currentLink.Item1, currentLink.Item3);
im.settings.linksLoaded++;
foreach (Joint childJoint in currentLink.Item1.joints)
{
Link child = childJoint.ChildLink;
im.importStack.Push(new Tuple <Link, Transform, Joint>(child, importedLink.transform, childJoint));
}
return(true);
}
return(false);
}
// Creates the robot game object.
private static void ImportPipelineCreateObject(ImportPipelineData im)
{
im.robotGameObject = new GameObject(im.robot.name);
importsettings = im.settings;
im.settings.totalLinks = im.robot.links.Count;
CreateTag();
SetTag(im.robotGameObject);
im.robotGameObject.AddComponent <UrdfRobot>();
im.robotGameObject.AddComponent <Unity.Robotics.UrdfImporter.Control.Controller>();
if (RuntimeUrdf.IsRuntimeMode())
{// In runtime mode, we have to disable controller while robot is being constructed.
im.robotGameObject.GetComponent <Unity.Robotics.UrdfImporter.Control.Controller>().enabled = false;
}
im.robotGameObject.GetComponent <UrdfRobot>().SetAxis(im.settings.choosenAxis);
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(im.robot.filename));
UrdfMaterial.InitializeRobotMaterials(im.robot);
UrdfPlugins.Create(im.robotGameObject.transform, im.robot.plugins);
}
