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;
}
