private static Robot ExportRobotData(this UrdfRobot urdfRobot)
{
#if UNITY_EDITOR
Robot robot = new Robot(urdfRobot.FilePath, urdfRobot.gameObject.name);
List <string> linkNames = new List <string>();
foreach (UrdfLink urdfLink in urdfRobot.GetComponentsInChildren <UrdfLink>())
{
//Link export
if (linkNames.Contains(urdfLink.name))
{
EditorUtility.DisplayDialog("URDF Export Error",
"URDF export failed. There are several links with the name " +
urdfLink.name + ". Make sure all link names are unique before exporting this robot.",
"Ok");
return(null);
}
robot.links.Add(urdfLink.ExportLinkData());
linkNames.Add(urdfLink.name);
//Joint export
UrdfJoint urdfJoint = urdfLink.gameObject.GetComponent <UrdfJoint>();
if (urdfJoint != null)
{
robot.joints.Add(urdfJoint.ExportJointData());
}
else if (!urdfLink.IsBaseLink)
{
//Make sure that links with no rigidbodies are still connected to the robot by a default joint
robot.joints.Add(UrdfJoint.ExportDefaultJoint(urdfLink.transform));
}
}
robot.materials = UrdfMaterial.Materials.Values.ToList();
robot.plugins = urdfRobot.GetComponentInChildren <UrdfPlugins>().ExportPluginsData();
return(robot);
#else
Debug.LogError("URDF Export is only available in Editor.");
return(null);
#endif
}
public static void CorrectAxis(GameObject robot)
{
UrdfRobot robotScript = robot.GetComponent <UrdfRobot>();
if (robotScript == null)
{
Debug.LogError("Robot has no UrdfRobot component attached. Abandon correcting axis");
return;
}
if (robotScript.CheckOrientation())
{
return;
}
Quaternion correctYtoZ = Quaternion.Euler(-90, 0, 90);
Quaternion correctZtoY = Quaternion.Inverse((correctYtoZ));
Quaternion correction = new Quaternion();
if (robotScript.choosenAxis == ImportSettings.axisType.zAxis)
{
correction = correctYtoZ;
}
else
{
correction = correctZtoY;
}
UrdfVisual[] visualMeshList = robot.GetComponentsInChildren <UrdfVisual>();
UrdfCollision[] collisionMeshList = robot.GetComponentsInChildren <UrdfCollision>();
foreach (UrdfVisual visual in visualMeshList)
{
visual.transform.localRotation = visual.transform.localRotation * correction;
}
foreach (UrdfCollision collision in collisionMeshList)
{
if (robotScript.choosenAxis != ImportSettings.axisType.zAxis)
{
collision.transform.localRotation = collision.transform.localRotation * correction;
}
}
robotScript.SetOrientation();
}
public static void ExportRobotToUrdf(this UrdfRobot urdfRobot, string exportRootFolder, string exportDestination = "")
{
#if UNITY_EDITOR
UrdfExportPathHandler.SetExportPath(exportRootFolder, exportDestination);
urdfRobot.FilePath = Path.Combine(UrdfExportPathHandler.GetExportDestination(), urdfRobot.name + ".urdf");
Robot robot = urdfRobot.ExportRobotData();
if (robot == null)
{
return;
}
robot.WriteToUrdf();
Debug.Log(robot.name + " was exported to " + UrdfExportPathHandler.GetExportDestination());
UrdfMaterial.Materials.Clear();
UrdfExportPathHandler.Clear();
AssetDatabase.Refresh();
#else
Debug.LogError("URDF Export is only available in Editor.");
#endif
}
