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;
}
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 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 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;
}
public override void OnInspectorGUI()
{
GUILayout.Space(5);
urdfLink.IsBaseLink = EditorGUILayout.Toggle("Is Base Link", urdfLink.IsBaseLink);
GUILayout.Space(5);
EditorGUILayout.BeginVertical("HelpBox");
jointType = (UrdfJoint.JointTypes)EditorGUILayout.EnumPopup(
"Child Joint Type", jointType);
if (GUILayout.Button("Add child link (with joint)"))
{
UrdfLink childLink = UrdfLinkExtensions.Create(urdfLink.transform);
UrdfJoint.Create(childLink.gameObject, jointType);
}
EditorGUILayout.EndVertical();
}
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));
}
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);
}
