/// <summary> /// Imports URDF based on a given filename. Filename has to contain a full path. /// </summary> /// <param name="filename"></param> private void ImportUrdfObject(string filename) { UrdfRobot = UrdfRobotExtensionsRuntime.Create(filename, useUrdfMaterials: false); UrdfRobot.transform.parent = transform; UrdfRobot.transform.localPosition = Vector3.zero; UrdfRobot.transform.localEulerAngles = Vector3.zero; UrdfRobot.SetRigidbodiesIsKinematic(true); RobotModel = UrdfRobot.gameObject; LoadLinks(); Debug.Log("URDF: robot created (without models yet)"); }
/// <summary> /// Imports URDF based on a given filename. Filename has to contain a full path. /// <param name="filename">Filename including path to the urdf file.</param> /// <param name="robotType">Type of the robot.</param> /// </summary> private void ImportUrdfObject(string filename, string robotType) { UrdfRobot urdfRobot = UrdfRobotExtensionsRuntime.Create(filename, useColliderInVisuals: true, useUrdfMaterials: true); urdfRobot.transform.parent = transform; urdfRobot.transform.localPosition = Vector3.zero; urdfRobot.transform.localEulerAngles = Vector3.zero; urdfRobot.SetRigidbodiesIsKinematic(true); RobotModel robot = new RobotModel(robotType, urdfRobot.gameObject); robot.LoadLinks(); RobotModels[robotType].Add(robot); //Debug.Log("URDF: robot created (without models yet)"); }