Simulation plays an important role in robotics development, and we’re here to ensure that roboticists can use Unity for these simulations. We're starting off with a set of tools to make it easier to use Unity with existing ROS-based workflows. Try out some of our samples below to get started quickly.
A complete end-to-end demonstration, including how to set up the Unity environment, how to import a robot from URDF, and how to set up two-way communication with ROS for control.
A complete end-to-end demonstration in which we collect training data in Unity and use that data to train a deep neural network to predict the pose of a cube. This model is then deployed in a simulated robotic pick-and-place task.
A robot simulation demonstrating Unity's new physics solver (no ROS dependency).
## Documentation
| [Quick Installation Instructions](tutorials/quick_setup.md) | Brief steps on installing the Unity Robotics packages |
| [Pick-and-Place Demo](tutorials/pick_and_place/README.md) | A complete end-to-end demonstration, including how to set up the Unity environment, how to import a robot from URDF, and how to set up two-way communication with ROS for control |
| [Articulations Robot Demo](https://github.com/Unity-Technologies/articulations-robot-demo) | A robot simulation demonstrating Unity's new physics solver (no ROS dependency) |
| [Object Pose Estimation Demo](https://github.com/Unity-Technologies/Robotics-Object-Pose-Estimation) | A complete end-to-end demonstration in which we collect training data in Unity and use that data to train a deep neural network to predict the pose of a cube. This model is then deployed in a simulated robotic pick-and-place task
## Component Repos
### Blog Posts and Talks
- [**New!**] (March 2, 2021) Teaching robots to see with Unity [blog post](https://blogs.unity3d.com/2021/03/02/teaching-robots-to-see-with-unity/)
- (November 19, 2020) Robotics simulation in Unity is as easy as 1, 2, 3! [blog post](https://blogs.unity3d.com/2020/11/19/robotics-simulation-in-unity-is-as-easy-as-1-2-3/)
- (November 12, 2020)
Unite Now 2020: Simulating Robots with ROS and Unity [video](https://resources.unity.com/unitenow/onlinesessions/simulating-robots-with-ros-and-unity)
- **Wheel Collider shapes**. This feature will allow the user to specify the shape of the collider to be used for collision detection. Currently the collider shape is fixed to a cylinder, and collision detection is performed by casting a ray from the center of the cylinder. Custom shapes will improve the accuracy of simulating wheels over rough terrains, holes, etc. [Read more about Wheel Collider](https://docs.unity3d.com/Manual/class-WheelCollider.html).
- **Force/Torque Sensor API**. This API will allow users to get the force and torque acting on an articulation body (useful for simulating a force/torque sensor!), as well as to get the motor torque applied by an articulation drive.
- **Query primitives**. These simple, GameObject-less shapes allow for collision detection without requiring simulation (i.e., without calling Physics.Simulate). This feature will allow users to initialize objects in feasible locations, and can also be used for motion planning.
## [**New!**] ROS 2
Interested in early access to ROS 2 integration? Email [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com) to join our alpha program.
## FAQs
[FAQs](faq.md)
For any other questions or feedback, connect directly with the
Robotics team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
## Newsletter
To get notified about new updates and features, [sign up for our newsletter](https://create.unity3d.com/robotics-simulation-newsletter-sign-up)!
Shuo Diao
4 年前