Robot Package for Unity ROS Teleoperation

This package provides various robot models for the Unity ROS Teleoperation project. Each robot model can be imported individually into your Unity project through the Robot Database asset. This acts as a central repository for all available robots either locally, pulled from external Git repositories such as this one, or imported from .unitypackages.

Installation

To install, add the Robot Core package to your Unity project via the Unity Package Manager using the following Git URL:

git@github.com:leggedrobotics/unity_ros_robots.git?path=RobotCore

This will allow you to create Robot Database objects from the create menu: Create > Robots > RobotDatabase. Clicking on one of these objects will then use the data in robots.json to display the available robot packages and allow you to install them into your project via the Inspector UI. After installing, updating or removing a robot, you Scan for Robots again to refresh the data base list. In the default project the menus will use the RobotDatase object located at Assets/Components/Robots/RobotDatabase.asset.

Robot Catalog

JSON files can be used to create catalogs of various robots, their dependancies and where to pull their prefabs from (either locally or from remotes). A sample one is provided at robots.json which loads the below mentioned robots. Additional catalogs can be added using the + button in on the Robot Database inspector.

Robots

The following robot models are available in this package and can be installed via the Robot Database:

Robot	Image
ALMA
AnymalD
B2W
Dynaarm
Franka Panda Arm
GR2
Spot