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 void Create(GameObject linkObject, Link.Inertial inertial = null)
{
UrdfInertial urdfInertial = linkObject.AddComponent <UrdfInertial>();
#if UNITY_2020_1_OR_NEWER
ArticulationBody robotLink = urdfInertial.GetComponent <ArticulationBody>();
#else
Rigidbody robotLink = urdfInertial.GetComponent <Rigidbody>();
#endif
if (inertial != null)
{
robotLink.mass = ((float)inertial.mass > 0)?((float)inertial.mass):minMass;
if (inertial.origin != null)
{
robotLink.centerOfMass = UrdfOrigin.GetPositionFromUrdf(inertial.origin);
}
else
{
robotLink.centerOfMass = Vector3.zero;
}
urdfInertial.ImportInertiaData(inertial);
urdfInertial.useUrdfData = true;
}
urdfInertial.displayInertiaGizmo = false;
}
private void ImportInertiaData(Link.Inertial inertial)
{
Vector3 eigenvalues;
Vector3[] eigenvectors;
Matrix3x3 rotationMatrix = ToMatrix3x3(inertial.inertia);
rotationMatrix.DiagonalizeRealSymmetric(out eigenvalues, out eigenvectors);
#if UNITY_2020_1_OR_NEWER
ArticulationBody robotLink = GetComponent <ArticulationBody>();
#else
Rigidbody robotLink = GetComponent <Rigidbody>();
#endif
Vector3 inertiaEulerAngles;
if (inertial.origin != null)
{
inertiaEulerAngles = UrdfOrigin.GetRotationFromUrdf(inertial.origin);
}
else
{
inertiaEulerAngles = new Vector3(0, 0, 0);
}
this.inertialAxisRotation.eulerAngles = inertiaEulerAngles;
robotLink.inertiaTensor = ToUnityInertiaTensor(FixMinInertia(eigenvalues));
robotLink.inertiaTensorRotation = ToQuaternion(eigenvectors[0], eigenvectors[1], eigenvectors[2]).Ros2Unity() * this.inertialAxisRotation;
this.centerOfMass = robotLink.centerOfMass;
this.inertiaTensor = robotLink.inertiaTensor;
this.inertiaTensorRotation = robotLink.inertiaTensorRotation;
}
public static Link.Collision ExportCollisionData(this UrdfCollision urdfCollision)
{
UrdfGeometry.CheckForUrdfCompatibility(urdfCollision.transform, urdfCollision.geometryType);
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfCollision.geometryType, urdfCollision.transform, true);
string collisionName = urdfCollision.name == "unnamed" ? null : urdfCollision.name;
return(new Link.Collision(geometry, collisionName, UrdfOrigin.ExportOriginData(urdfCollision.transform)));
}
public static Joint ExportDefaultJoint(Transform transform)
{
return(new Joint(
transform.parent.name + "_" + transform.name + "_joint",
JointTypes.Fixed.ToString().ToLower(),
transform.parent.name,
transform.name,
UrdfOrigin.ExportOriginData(transform)));
}
public static UrdfCollision Create(Transform parent, Link.Collision collision)
{
GameObject collisionObject = new GameObject("unnamed");
collisionObject.transform.SetParentAndAlign(parent);
UrdfCollision urdfCollision = collisionObject.AddComponent <UrdfCollision>();
urdfCollision.geometryType = UrdfGeometry.GetGeometryType(collision.geometry);
UrdfGeometryCollision.Create(collisionObject.transform, urdfCollision.geometryType, collision.geometry);
UrdfOrigin.ImportOriginData(collisionObject.transform, collision.origin);
return(urdfCollision);
}
public static void Create(Transform parent, Link.Visual visual)
{
GameObject visualObject = new GameObject(visual.name ?? "unnamed");
visualObject.transform.SetParentAndAlign(parent);
UrdfVisual urdfVisual = visualObject.AddComponent <UrdfVisual>();
urdfVisual.geometryType = UrdfGeometry.GetGeometryType(visual.geometry);
UrdfGeometryVisual.Create(visualObject.transform, urdfVisual.geometryType, visual.geometry);
UrdfMaterial.SetUrdfMaterial(visualObject, visual.material);
UrdfOrigin.ImportOriginData(visualObject.transform, visual.origin);
}
public static Link.Visual ExportVisualData(this UrdfVisual urdfVisual)
{
UrdfGeometry.CheckForUrdfCompatibility(urdfVisual.transform, urdfVisual.geometryType);
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfVisual.geometryType, urdfVisual.transform);
Link.Visual.Material material = null;
if ((geometry.mesh != null))
{
material = UrdfMaterial.ExportMaterialData(urdfVisual.GetComponentInChildren <MeshRenderer>().sharedMaterial);
}
string visualName = urdfVisual.name == "unnamed" ? null : urdfVisual.name;
return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(urdfVisual.transform), material));
}
public Joint ExportJointData()
{
#if UNITY_2020_1_OR_NEWER
unityJoint = GetComponent <UnityEngine.ArticulationBody>();
#else
unityJoint = GetComponent <UnityEngine.Joint>();
#endif
CheckForUrdfCompatibility();
//Data common to all joints
Joint joint = new Joint(
jointName,
JointType.ToString().ToLower(),
gameObject.transform.parent.name,
gameObject.name,
UrdfOrigin.ExportOriginData(transform));
joint.limit = ExportLimitData();
return(ExportSpecificJointData(joint));
}
