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); } foreach (Joint childJoint in link.joints) { Link child = childJoint.ChildLink; UrdfLinkExtensions.Create(urdfLink.transform, child, childJoint); } }
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) { Debug.LogWarning("No Joint Component will be created in GameObject \"" + urdfLink.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", urdfLink.gameObject); } foreach (Joint childJoint in link.joints) { Link child = childJoint.ChildLink; UrdfLinkExtensions.Create(urdfLink.transform, child, childJoint); } }
public static void Create() { GameObject robotGameObject = new GameObject("Robot"); robotGameObject.AddComponent <UrdfRobot>(); UrdfPlugins.Create(robotGameObject.transform); UrdfLink urdfLink = UrdfLinkExtensions.Create(robotGameObject.transform); urdfLink.name = "base_link"; urdfLink.IsBaseLink = true; }
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"); robotGameObject.tag = tagName; robotGameObject.AddComponent <UrdfRobot>(); robotGameObject.AddComponent <RosSharp.Control.Controller>(); UrdfPlugins.Create(robotGameObject.transform); UrdfLink urdfLink = UrdfLinkExtensions.Create(robotGameObject.transform); urdfLink.name = "base_link"; urdfLink.IsBaseLink = true; }
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(); }
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.Synchronize(urdfLink.gameObject, link.inertial); if (joint != null) { UrdfJoint.Synchronize(urdfLink.gameObject, UrdfJoint.GetJointType(joint.type), joint); } } else if (joint != null) { Debug.LogWarning("No Joint Component will be created in GameObject \"" + urdfLink.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", urdfLink.gameObject); } foreach (Joint childJoint in link.joints.Where(x => x.ChildLink != null)) { Link child = childJoint.ChildLink; UrdfLinkExtensions.Synchronize(urdfLink.transform, child, childJoint); } var linkChildren = Utils.GetComponentsInDirectChildrenFromGameobject <UrdfLink>(urdfLink.gameObject); List <string> wantedObjectNames = link.joints .Where(x => x.ChildLink != null) .Select(x => String.IsNullOrEmpty(x.child) ? Utils.GenerateNonReferenceID(x.ChildLink) : x.child) .ToList(); linkChildren.RemoveAll(x => wantedObjectNames.Contains(x.name)); Utils.DestroyAll(linkChildren.Select(x => x.gameObject)); }
public static UrdfLink 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); UnityEditor.EditorGUIUtility.PingObject(linkObject); } return(urdfLink); }
protected virtual void OnEnable() { urdfLink = (UrdfLink)serializedObject.targetObject; }