Thank you for your interest in contributing to Unity Robotics! To facilitate your
contributions, we've outlined a brief set of guidelines to ensure that your extensions
Thank you for your interest in contributing to Unity Robotics! To facilitate your
contributions, we've outlined a brief set of guidelines to ensure that your extensions
can be easily integrated.
## Communication
All Python code should follow the [PEP 8 style guidelines](https://pep8.org/).
All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions).
Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html)
can be used to format, encode, and lint your code according to the standard Unity
development conventions. Be aware that these Unity conventions will supersede the
All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions).
Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html)
can be used to format, encode, and lint your code according to the standard Unity
development conventions. Be aware that these Unity conventions will supersede the
Microsoft C# Coding Conventions where applicable.
Please note that even if the code you are changing does not adhere to these guidelines,
## Contribution review
Once you have a change ready following the above ground rules, simply make a
Once you have a change ready following the above ground rules, simply make a
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
## Getting Started with Unity Robotics
| [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 |
| [URDF Importer](tutorials/urdf_importer/urdf_tutorial.md) | Steps on using the Unity package for loading [URDF](http://wiki.ros.org/urdf) files |
| [URDF Importer](tutorials/urdf_importer/urdf_tutorial.md) | Steps on using the Unity package for loading [URDF](http://wiki.ros.org/urdf) files |
| [Articulations Robot Demo](https://github.com/Unity-Technologies/articulations-robot-demo) | A robot simulation demonstrating Unity's new physics solver (no ROS dependency)
| [ROS TCP Endpoint](https://github.com/Unity-Technologies/ROS-TCP-Endpoint) | ROS node for sending/receiving messages from Unity |
| [ROS TCP Connector](https://github.com/Unity-Technologies/ROS-TCP-Connector) | Unity package for sending/receiving messages from ROS |
| [TCP Endpoint](https://github.com/Unity-Technologies/ROS-TCP-Endpoint) | ROS node for sending/receiving messages from Unity |
| [TCP Connector](https://github.com/Unity-Technologies/ROS-TCP-Connector) | Unity package for sending/receiving messages from ROS |
- [**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)
Use articulation bodies to easily prototype industrial designs with realistic motion and behavior [blog post](https://blogs.unity3d.com/2020/05/20/use-articulation-bodies-to-easily-prototype-industrial-designs-with-realistic-motion-and-behavior/)
Use articulation bodies to easily prototype industrial designs with realistic motion and behavior [blog post](https://blogs.unity3d.com/2020/05/20/use-articulation-bodies-to-easily-prototype-industrial-designs-with-realistic-motion-and-behavior/)
- **Contact Modification API** This API will allow users to define custom contact reactions, such as ignoring subsets of contact points, in order to help simulate holes, slippery surfaces, soft contacts, and more. It is available in Unity versions **2021.2a12+**. [Read more about the new Contact Modification API](https://forum.unity.com/threads/experimental-contacts-modification-api.924809/).
- **Collision detection modes exposed for ArticulationBody: discrete, sweep-based CCD, and speculative CCD**. New continuous collision detection (CCD) modes will ensure that fast-moving objects collide with objects, instead of tunneling or passing through those objects, which can happen in the default “discrete” mode. This API is available in Unity versions **2020.3.5f1+**. [Read more about continuous collision detection](https://docs.unity3d.com/2020.3/Documentation/ScriptReference/ArticulationBody-collisionDetectionMode.html).
### Coming Soon
## Coming Soon - New Physics Features in Unity!
- **Contact Modification API**. This API will allow users to define custom contact reactions, such as ignoring subsets of contact points, in order to help simulate holes, slippery surfaces, soft contacts, and more. [Read more about the new Contact Modification API](https://forum.unity.com/threads/experimental-contacts-modification-api.924809/).
- **Collision detection modes exposed for ArticulationBody: discrete, sweep-based ccd, and speculative ccd**. New continuous collision detection (ccd) modes will ensure that fast-moving objects collide with objects, instead of tunneling or passing through those objects, which can happen in the default “discrete” mode. [Read more about continuous collision detection](https://docs.unity3d.com/Manual/ContinuousCollisionDetection.html).
## [**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.
The Unity Robotics projects are open-source and we encourage and welcome contributions.
If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md)
The Unity Robotics projects are open-source and we encourage and welcome contributions.
If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md)
For questions or discussions about Unity Robotics package installations or how to best set up and integrate your robotics projects, please create a new thread on the [Unity Robotics forum](https://forum.unity.com/forums/robotics.623/) and make sure to include as much detail as possible.
For feature requests, bugs, or other issues, please file a [GitHub issue](https://github.com/Unity-Technologies/Unity-Robotics-Hub/issues) using the provided templates and the Robotics team will investigate as soon as possible.
For any other questions or feedback, connect directly with the
For general questions, feedback, or feature requests, connect directly with the
## Newsletter
To get notified about new updates and features, [sign up for our newsletter](https://create.unity3d.com/robotics-simulation-newsletter-sign-up)!
For bugs or other issues, please file a GitHub issue and the Robotics team will
peifeng-unity
3 年前