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 robot game object.
private static void ImportPipelineCreateObject(ImportPipelineData im)
{
im.robotGameObject = new GameObject(im.robot.name);
importsettings = im.settings;
im.settings.totalLinks = im.robot.links.Count;
CreateTag();
SetTag(im.robotGameObject);
im.robotGameObject.AddComponent <UrdfRobot>();
im.robotGameObject.AddComponent <Unity.Robotics.UrdfImporter.Control.Controller>();
if (RuntimeUrdf.IsRuntimeMode())
{// In runtime mode, we have to disable controller while robot is being constructed.
im.robotGameObject.GetComponent <Unity.Robotics.UrdfImporter.Control.Controller>().enabled = false;
}
im.robotGameObject.GetComponent <UrdfRobot>().SetAxis(im.settings.choosenAxis);
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(im.robot.filename));
UrdfMaterial.InitializeRobotMaterials(im.robot);
UrdfPlugins.Create(im.robotGameObject.transform, im.robot.plugins);
}