/// <summary>
/// Creates identical copy of specified RobotModel.
/// </summary>
/// <param name="robotToCopy">RobotModel to copy.</param>
/// <returns>Copy of specified RobotModel.</returns>
private RobotModel CopyRobotModel(RobotModel robotToCopy)
{
GameObject robotModelGameObject = Instantiate(robotToCopy.RobotModelGameObject);
robotModelGameObject.transform.parent = transform;
robotModelGameObject.transform.localPosition = Vector3.zero;
robotModelGameObject.transform.localEulerAngles = Vector3.zero;
RobotModel robot = new RobotModel(robotToCopy.RobotType, robotModelGameObject);
robot.LoadLinks(copyOfRobotModel: true);
robot.RobotLoaded = true;
return(robot);
}
/// <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)");
}