private void ImportLinkData(Link link, Joint joint)
{
if (link.inertial == null && joint == null)
{
isBaseLink = true;
}
gameObject.name = link.name;
if (joint?.origin != null)
{
UrdfOrigin.ImportOriginData(transform, joint.origin);
}
if (link.inertial != null)
{
UrdfInertial.Create(gameObject, link.inertial);
if (joint != null)
{
UrdfJoint.Create(gameObject, UrdfJoint.GetJointType(joint.type), joint);
}
}
else if (joint != null)
{
Debug.LogWarning("No Joint Component will be created in GameObject \"" + 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", gameObject);
}
foreach (Joint childJoint in link.joints)
{
Link child = childJoint.ChildLink;
UrdfLink.Create(transform, child, childJoint);
}
}
public static void Create(GameObject linkObject, Link.Inertial inertial = null)
{
UrdfInertial urdfInertial = linkObject.AddComponent <UrdfInertial>();
Rigidbody _rigidbody = urdfInertial.GetComponent <Rigidbody>();
if (inertial != null)
{
_rigidbody.mass = (float)inertial.mass;
if (inertial.origin != null)
{
_rigidbody.centerOfMass = UrdfOrigin.GetPositionFromUrdf(inertial.origin);
}
urdfInertial.ImportInertiaData(inertial.inertia);
urdfInertial.UseUrdfData = true;
}
urdfInertial.DisplayInertiaGizmo = false;
//Save original rigidbody data from URDF
urdfInertial.CenterOfMass = _rigidbody.centerOfMass;
urdfInertial.InertiaTensor = _rigidbody.inertiaTensor;
urdfInertial.InertiaTensorRotation = _rigidbody.inertiaTensorRotation;
}
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;
if (inertial.origin != null)
{
robotLink.centerOfMass = UrdfOrigin.GetPositionFromUrdf(inertial.origin);
}
else
{
robotLink.centerOfMass = Vector3.zero;
}
urdfInertial.ImportInertiaData(inertial);
urdfInertial.useUrdfData = true;
}
urdfInertial.displayInertiaGizmo = false;
}
public static void Create(GameObject linkObject, Link.Inertial inertial)
{
UrdfInertial urdfInertial = linkObject.AddComponent <UrdfInertial>();
urdfInertial.UrdfMass = (float)inertial.mass;
if (inertial.origin != null)
{
urdfInertial.UrdfCenterOfMass = UrdfOrigin.GetPositionFromUrdf(inertial.origin);
}
urdfInertial.ImportInertiaData(inertial.inertia);
urdfInertial.Initialize();
urdfInertial.isCreated = true;
}
public Link ExportLinkData()
{
if (transform.localScale != Vector3.one)
{
Debug.LogWarning("Only visuals should be scaled. Scale on link \"" + gameObject.name + "\" cannot be saved to the URDF file.", gameObject);
}
UrdfInertial urdfInertial = gameObject.GetComponent <UrdfInertial>();
Link link = new Link(gameObject.name)
{
visuals = gameObject.GetComponentInChildren <UrdfVisuals>().ExportVisualsData(),
collisions = gameObject.GetComponentInChildren <UrdfCollisions>().ExportCollisionsData(),
inertial = urdfInertial == null ? null : urdfInertial.ExportInertialData()
};
return(link);
}
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>();
UrdfVisuals.Create(linkObject.transform, link?.visuals);
UrdfCollisions.Create(linkObject.transform, link?.collisions);
if (link != null)
{
urdfLink.ImportLinkData(link, joint);
}
else
{
UrdfInertial.Create(linkObject);
EditorGUIUtility.PingObject(linkObject);
}
return(urdfLink);
}
public override void OnInspectorGUI()
{
UrdfInertial urdfInertial = (UrdfInertial)target;
GUILayout.Space(5);
urdfInertial.DisplayInertiaGizmo =
EditorGUILayout.ToggleLeft("Display Inertia Gizmo", urdfInertial.DisplayInertiaGizmo);
GUILayout.Space(5);
bool newValue = EditorGUILayout.BeginToggleGroup("Use URDF Data", urdfInertial.UseUrdfData);
EditorGUILayout.Vector3Field("URDF Center of Mass", urdfInertial.CenterOfMass);
EditorGUILayout.Vector3Field("URDF Inertia Tensor", urdfInertial.InertiaTensor);
EditorGUILayout.Vector3Field("URDF Inertia Tensor Rotation",
urdfInertial.InertiaTensorRotation.eulerAngles);
EditorGUILayout.EndToggleGroup();
if (newValue != urdfInertial.UseUrdfData)
{
urdfInertial.UseUrdfData = newValue;
urdfInertial.UpdateRigidBodyData();
}
}