public static void Create()
{
CreateTag();
GameObject robotGameObject = new GameObject("Robot");
SetTag(robotGameObject);
robotGameObject.AddComponent <UrdfRobot>();
robotGameObject.AddComponent <Unity.Robotics.UrdfImporter.Control.Controller>();
UrdfPlugins.Create(robotGameObject.transform);
UrdfLink urdfLink = UrdfLinkExtensions.Create(robotGameObject.transform).GetComponent <UrdfLink>();
urdfLink.name = "base_link";
urdfLink.IsBaseLink = true;
}
// Creates the stack of robot joints. Should be called iteratively until false is returned.
private static bool ProcessJointStack(ImportPipelineData im)
{
if (im.importStack == null)
{
im.importStack = new Stack <Tuple <Link, Transform, Joint> >();
im.importStack.Push(new Tuple <Link, Transform, Joint>(im.robot.root, im.robotGameObject.transform, null));
}
if (im.importStack.Count != 0)
{
Tuple <Link, Transform, Joint> currentLink = im.importStack.Pop();
GameObject importedLink = UrdfLinkExtensions.Create(currentLink.Item2, currentLink.Item1, currentLink.Item3);
im.settings.linksLoaded++;
foreach (Joint childJoint in currentLink.Item1.joints)
{
Link child = childJoint.ChildLink;
im.importStack.Push(new Tuple <Link, Transform, Joint>(child, importedLink.transform, childJoint));
}
return(true);
}
return(false);
}
