//Creates RoboticLimb components for the mirror and IK leg, adds them to limb base servo base, then aranges the hiarchy
void CreateRoboticLegs(List <RoboticServoMirror> servosMirror)
{
//Set up mirrorLimb component on the base part base
baseMirror = servoBase.servoBase.transform;
limbMirror = baseMirror.gameObject.AddComponent(typeof(RoboticLimbMirror)) as RoboticLimbMirror;
limbMirror.CustomStart(this);
limbMirror.servosMirror = servosMirror;
limbMirror.SetLimbReference();
limbMirror.FindEndPoint();
//Move the Limb controller component Object into place
transform.SetParent(baseMirror);
transform.localPosition = Vector3.zero;
transform.LookAt(baseMirror.up);//,vesselControl.mirrorVessel.transform.up);
transform.rotation = Quaternion.LookRotation(baseMirror.up, vesselControl.adjustedGimbal.up);
// transform.rotation = vesselControl.mirrorVessel.transform.rotation;
transform.SetParent(baseMirror.parent);
baseMirror.SetParent(transform);
//get mirror limb groups before generating IK limb
limbMirror.CalculateGroups();
baseIK = Instantiate(baseMirror).transform;
baseMirror.name += "Mirror Arm";
baseIK.name += "IK Arm";
baseIK.SetParent(transform);
baseIK.rotation = limbMirror.transform.rotation;
baseIK.localPosition = Vector3.zero;
////Mirror leg and limb controller are in place, set reference for IK limb that was generated, then build the leg
var mirrorLimb = baseIK.gameObject.GetComponent <RoboticLimbMirror>();
limbIK = baseIK.gameObject.AddComponent <RoboticLimbIK>();
limbIK.CustomStart(this);
// limbIK.servoWrist = mirrorLimb.servoWrist;
// limbIK.servoBase = mirrorLimb.servoBase;
//limbIK.limbController = mirrorLimb.limbController;
// limbIK.limbEnd = mirrorLimb.limbEnd;
Destroy(mirrorLimb);
limbIK.ConvertToIKLimb(limbMirror);
limbIK.SetLimbReference();
// limbIK.FindEndPoint(false, "ik");
limbIK.StoreGroupedServos();
}
