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);
}
}
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);
}
}
public void GetJointType_AllJointTypes_Succeeds()
{
Assert.AreEqual(UrdfJoint.JointTypes.Fixed, UrdfJoint.GetJointType("fixed"));
Assert.AreEqual(UrdfJoint.JointTypes.Continuous, UrdfJoint.GetJointType("continuous"));
Assert.AreEqual(UrdfJoint.JointTypes.Revolute, UrdfJoint.GetJointType("revolute"));
Assert.AreEqual(UrdfJoint.JointTypes.Floating, UrdfJoint.GetJointType("floating"));
Assert.AreEqual(UrdfJoint.JointTypes.Prismatic, UrdfJoint.GetJointType("prismatic"));
Assert.AreEqual(UrdfJoint.JointTypes.Planar, UrdfJoint.GetJointType("planar"));
Assert.AreEqual(UrdfJoint.JointTypes.Fixed, UrdfJoint.GetJointType("unknown"));
}
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));
}
private static void ImportSimulationLinkData(this GameObject linkObject, Link link, Joint joint)
{
linkObject.gameObject.name = link.name;
if (joint?.origin != null)
{
UrdfOrigin.ImportOriginData(linkObject.transform, joint.origin);
}
if (link?.inertial != null)
{
UrdfInertial.Create(linkObject, link.inertial);
// TODO(sam): figure out if possible to only let base_footprint be kinematic
linkObject.GetComponent <Rigidbody>().isKinematic = true;
if (joint != null)
{
UrdfSimulatedJoint.Create(linkObject, UrdfJoint.GetJointType(joint.type), joint);
}
}
else if (linkObject.name == "base_footprint")
{
Rigidbody baseFootprintRigidbody = linkObject.AddComponent <Rigidbody>();
baseFootprintRigidbody.useGravity = false;
baseFootprintRigidbody.isKinematic = true;
}
else if (joint != null)
{
Debug.LogWarning("No Joint Component will be created in GameObject \"" + linkObject.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", linkObject);
}
foreach (Joint childJoint in link.joints)
{
Link child = childJoint.ChildLink;
Create(linkObject.transform, child, childJoint);
}
}
