fe15edcbd5
- Unity frontend with ROS-TCP-Connector for ROS2 communication - Docker-based ROS2 Jazzy backend with MoveIt2 integration - Support for 1-9 DOF manipulators - UR5 robot configuration and URDF files - Assembly task feasibility analysis tools - Comprehensive documentation and deployment guides 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <noreply@anthropic.com>
301 lines
10 KiB
C#
301 lines
10 KiB
C#
using UnityEngine;
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namespace UnityMoveIt2.Core
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{
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/// <summary>
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/// 机器人自动配置器 / Robot Auto Configurator
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/// 运行时自动检测并配置机器人组件 / Auto-detect and configure robot components at runtime
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/// </summary>
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[RequireComponent(typeof(UniversalRobotAdapter))]
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[ExecuteInEditMode]
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public class RobotAutoConfigurator : MonoBehaviour
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{
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[Header("自动配置设置 / Auto Configuration Settings")]
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[SerializeField]
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[Tooltip("是否在编辑器模式下自动配置")]
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private bool autoConfigureInEditor = true;
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[SerializeField]
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[Tooltip("是否在Play模式下自动配置")]
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private bool autoConfigureAtRuntime = true;
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[SerializeField]
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[Tooltip("基座链接名称 / Base Link Name")]
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private string baseLinkName = "base_link";
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[SerializeField]
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[Tooltip("末端执行器名称 / End Effector Name")]
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private string endEffectorName = "tool0";
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[Header("配置状态 / Configuration Status")]
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[SerializeField]
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private bool isConfigured = false;
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private UniversalRobotAdapter robotAdapter;
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#region Unity Lifecycle
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private void Awake()
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{
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robotAdapter = GetComponent<UniversalRobotAdapter>();
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if (Application.isPlaying && autoConfigureAtRuntime && !isConfigured)
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{
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ConfigureRobot();
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}
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}
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private void OnValidate()
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{
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if (!Application.isPlaying && autoConfigureInEditor)
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{
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// 在编辑器模式下延迟配置
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UnityEditor.EditorApplication.delayCall += () =>
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{
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if (this != null)
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ConfigureRobot();
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};
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}
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}
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#endregion
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#region Auto Configuration
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/// <summary>
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/// 配置机器人 / Configure Robot
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/// </summary>
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[ContextMenu("自动配置机器人 / Auto Configure Robot")]
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public void ConfigureRobot()
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{
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if (robotAdapter == null)
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{
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robotAdapter = GetComponent<UniversalRobotAdapter>();
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if (robotAdapter == null)
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{
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Debug.LogError("[RobotAutoConfigurator] 未找到 UniversalRobotAdapter 组件");
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return;
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}
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}
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Debug.Log("[RobotAutoConfigurator] 开始自动配置机器人...");
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bool success = true;
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// 查找并设置 Base Link
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if (!ConfigureBaseLink())
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{
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success = false;
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}
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// 查找并设置 End Effector
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if (!ConfigureEndEffector())
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{
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success = false;
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}
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// 配置其他参数
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ConfigureAdditionalParameters();
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if (success)
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{
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isConfigured = true;
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Debug.Log("[RobotAutoConfigurator] ✓ 机器人自动配置成功！");
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}
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else
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{
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Debug.LogWarning("[RobotAutoConfigurator] 机器人配置不完整，请检查Hierarchy结构");
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}
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// 标记为已修改（仅编辑器模式）
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if (!Application.isPlaying)
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{
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#if UNITY_EDITOR
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UnityEditor.EditorUtility.SetDirty(robotAdapter);
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UnityEditor.EditorUtility.SetDirty(this);
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#endif
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}
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}
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/// <summary>
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/// 配置基座链接 / Configure Base Link
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/// </summary>
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private bool ConfigureBaseLink()
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{
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Transform baseLink = FindChildRecursive(transform, baseLinkName);
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if (baseLink != null)
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{
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// 使用反射设置私有字段
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var baseLinkField = typeof(UniversalRobotAdapter).GetField("baseLink",
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System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance);
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if (baseLinkField != null)
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{
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baseLinkField.SetValue(robotAdapter, baseLink);
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Debug.Log($"[RobotAutoConfigurator] ✓ 设置 Base Link: {baseLink.name}");
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return true;
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}
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}
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else
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{
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Debug.LogWarning($"[RobotAutoConfigurator] ✗ 未找到 Base Link: {baseLinkName}");
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Debug.LogWarning("[RobotAutoConfigurator] 提示: 请确保机器人结构中包含名为 'base_link' 的对象");
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}
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return false;
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}
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/// <summary>
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/// 配置末端执行器 / Configure End Effector
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/// </summary>
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private bool ConfigureEndEffector()
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{
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Transform endEffector = FindChildRecursive(transform, endEffectorName);
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if (endEffector != null)
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{
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// 使用反射设置私有字段
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var endEffectorField = typeof(UniversalRobotAdapter).GetField("endEffector",
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System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance);
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if (endEffectorField != null)
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{
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endEffectorField.SetValue(robotAdapter, endEffector);
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Debug.Log($"[RobotAutoConfigurator] ✓ 设置 End Effector: {endEffector.name}");
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return true;
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}
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}
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else
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{
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Debug.LogWarning($"[RobotAutoConfigurator] ✗ 未找到 End Effector: {endEffectorName}");
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Debug.LogWarning("[RobotAutoConfigurator] 提示: 请确保机器人结构中包含名为 'tool0' 的对象");
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}
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return false;
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}
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/// <summary>
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/// 配置其他参数 / Configure Additional Parameters
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/// </summary>
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private void ConfigureAdditionalParameters()
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{
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// 统计关节数量
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ArticulationBody[] articulationBodies = GetComponentsInChildren<ArticulationBody>();
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int jointCount = articulationBodies.Length - 1; // 减去root body
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// 使用反射设置DOF
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var dofField = typeof(UniversalRobotAdapter).GetField("degreesOfFreedom",
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System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance);
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if (dofField != null && jointCount > 0 && jointCount <= 9)
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{
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dofField.SetValue(robotAdapter, jointCount);
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Debug.Log($"[RobotAutoConfigurator] ✓ 检测到 {jointCount} 个关节");
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}
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// 设置机器人名称
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var robotNameField = typeof(UniversalRobotAdapter).GetField("robotName",
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System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance);
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if (robotNameField != null)
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{
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robotNameField.SetValue(robotAdapter, gameObject.name);
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}
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}
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#endregion
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#region Helper Methods
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/// <summary>
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/// 递归查找子对象 / Find Child Recursively
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/// </summary>
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private Transform FindChildRecursive(Transform parent, string childName)
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{
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// 先检查直接子对象
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Transform result = parent.Find(childName);
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if (result != null)
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return result;
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// 递归查找所有子对象
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foreach (Transform child in parent)
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{
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result = FindChildRecursive(child, childName);
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if (result != null)
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return result;
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}
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return null;
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}
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/// <summary>
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/// 验证配置 / Validate Configuration
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/// </summary>
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[ContextMenu("验证配置 / Validate Configuration")]
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public void ValidateConfiguration()
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{
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Debug.Log("========== 机器人配置验证 ==========");
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// 检查Base Link
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Transform baseLink = FindChildRecursive(transform, baseLinkName);
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if (baseLink != null)
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Debug.Log($"✓ Base Link 存在: {baseLink.name}");
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else
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Debug.LogError($"✗ Base Link 不存在: {baseLinkName}");
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// 检查End Effector
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Transform endEffector = FindChildRecursive(transform, endEffectorName);
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if (endEffector != null)
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Debug.Log($"✓ End Effector 存在: {endEffector.name}");
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else
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Debug.LogError($"✗ End Effector 不存在: {endEffectorName}");
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// 统计关节
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ArticulationBody[] joints = GetComponentsInChildren<ArticulationBody>();
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Debug.Log($"✓ 找到 {joints.Length} 个 Articulation Body");
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// 检查Adapter
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if (robotAdapter != null)
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Debug.Log("✓ UniversalRobotAdapter 组件存在");
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else
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Debug.LogError("✗ UniversalRobotAdapter 组件不存在");
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Debug.Log("====================================");
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}
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/// <summary>
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/// 显示层级结构 / Show Hierarchy
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/// </summary>
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[ContextMenu("显示层级结构 / Show Hierarchy")]
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public void ShowHierarchy()
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{
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Debug.Log("========== 机器人层级结构 ==========");
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PrintHierarchy(transform, 0);
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Debug.Log("====================================");
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}
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private void PrintHierarchy(Transform parent, int level)
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{
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string indent = new string(' ', level * 2);
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string components = "";
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if (parent.GetComponent<ArticulationBody>() != null)
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components += "[AB] ";
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if (parent.GetComponent<MeshRenderer>() != null)
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components += "[MR] ";
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if (parent.GetComponent<Collider>() != null)
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components += "[Col] ";
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Debug.Log($"{indent}└─ {parent.name} {components}");
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foreach (Transform child in parent)
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{
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PrintHierarchy(child, level + 1);
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}
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}
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#endregion
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}
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}
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