public static void Create(string filename)
{
Robot robot = new Robot();
robot.ConstructFromFile(filename);
if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename))
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
return;
}
GameObject robotGameObject = new GameObject(robot.name);
robotGameObject.AddComponent <UrdfRobot>();
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(robot.filename));
UrdfMaterial.InitializeRobotMaterials(robot);
UrdfPlugins.Create(robotGameObject.transform, robot.plugins);
UrdfLinkExtensions.Create(robotGameObject.transform, robot.root);
GameObjectUtility.SetParentAndAlign(robotGameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(robotGameObject, "Create " + robotGameObject.name);
Selection.activeObject = robotGameObject;
}
public static IEnumerator Create(string filename, ImportSettings settings, bool loadStatus = false)
{
CreateTag();
importsettings = settings;
Robot robot = new Robot(filename);
settings.totalLinks = robot.links.Count;
if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename))
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
yield break;
}
GameObject robotGameObject = new GameObject(robot.name);
robotGameObject.tag = tagName;
robotGameObject.AddComponent <UrdfRobot>();
robotGameObject.AddComponent <RosSharp.Control.Controller>();
robotGameObject.GetComponent <UrdfRobot>().SetAxis(settings.choosenAxis);
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(robot.filename));
UrdfMaterial.InitializeRobotMaterials(robot);
UrdfPlugins.Create(robotGameObject.transform, robot.plugins);
Stack <Tuple <Link, Transform, Joint> > importStack = new Stack <Tuple <Link, Transform, Joint> >();
importStack.Push(new Tuple <Link, Transform, Joint>(robot.root, robotGameObject.transform, null));
while (importStack.Count != 0)
{
Tuple <Link, Transform, Joint> currentLink = importStack.Pop();
GameObject importedLink = UrdfLinkExtensions.Create(currentLink.Item2, currentLink.Item1, currentLink.Item3);
settings.linksLoaded++;
foreach (Joint childJoint in currentLink.Item1.joints)
{
Link child = childJoint.ChildLink;
importStack.Push(new Tuple <Link, Transform, Joint>(child, importedLink.transform, childJoint));
}
if (loadStatus)
{
yield return(null);
}
}
GameObjectUtility.SetParentAndAlign(robotGameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(robotGameObject, "Create " + robotGameObject.name);
Selection.activeObject = robotGameObject;
CorrectAxis(robotGameObject);
CreateCollisionExceptions(robot, robotGameObject);
}
public override void OnInspectorGUI()
{
UrdfPlugins urdfPlugins = (UrdfPlugins)target;
GUILayout.Space(8);
if (GUILayout.Button("Add Plugin"))
{
UrdfPlugin.Create(urdfPlugins.transform);
}
}
public void Synchronize(Robot robot, GameObject rootObject, string assetRoot)
{
GameObject robotGameObject = rootObject;
robotGameObject.AddComponentIfNotExists <UrdfRobot>();
UrdfAssetPathHandler.SetPackageRoot(assetRoot);
UrdfMaterial.InitializeRobotMaterials(robot);
UrdfPlugins.Synchronize(robotGameObject.transform, robot.plugins);
UrdfLinkExtensions.Synchronize(robotGameObject.transform, robot.root);
}
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 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;
}
/// <summary>
/// Synchronizes the <paramref name="rootObject"/> with the <paramref name="robot"/>
/// </summary>
/// <param name="robot"></param>
/// <param name="rootObject"></param>
public void Synchronize(Robot robot, GameObject rootObject)
{
LocateAssetHandler.SetRobotName(robot.name);
GameObject robotGameObject = rootObject;
robotGameObject.AddComponentIfNotExists <UrdfRobot>();
UrdfPlugins.Synchronize(robotGameObject.transform, robot.plugins);
UrdfLinkExtensions.Synchronize(robotGameObject.transform, robot.root);
//These tags are needed for the Camera/Sensors to interact with the gameobject
foreach (var child in rootObject.GetComponentsInChildren <Transform>())
{
child.gameObject.tag = "Robot";
}
}
public static void Create(string filename, ImportSettings settings)
{
CreateTag();
importsettings = settings;
Robot robot = new Robot(filename);
if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename))
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
return;
}
GameObject robotGameObject = new GameObject(robot.name);
robotGameObject.tag = tagName;
robotGameObject.AddComponent <UrdfRobot>();
robotGameObject.AddComponent <RosSharp.Control.Controller>();
robotGameObject.GetComponent <UrdfRobot>().SetAxis(settings.choosenAxis);
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(robot.filename));
UrdfMaterial.InitializeRobotMaterials(robot);
UrdfPlugins.Create(robotGameObject.transform, robot.plugins);
UrdfLinkExtensions.Create(robotGameObject.transform, robot.root);
GameObjectUtility.SetParentAndAlign(robotGameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(robotGameObject, "Create " + robotGameObject.name);
Selection.activeObject = robotGameObject;
CorrectAxis(robotGameObject);
CreateCollisionExceptions(robot, robotGameObject);
}
