Unity_README.md

How to use this model in Unity

Import URDF from ROS

If you haven't imported the URDF from ROS into Unity, run the following command on the ROS machine:

roslaunch avatar_robot_description publish_description_avatar.launch

In Unity, select RosBridgeClient->Transfer URDF from ROS, fill in the correct rosbridge server IP (ROS machine IP) and select Read Robot Description. This will generate the robot model (a game object avatar) in Unity for you.

Publish robot states from rosbag data

On ROS machine, start robot state publisher:

roslaunch avatar_robot_description test_dual_panda.launch mimic:=false real_robot:=true

Start rosbridge server:

roslaunch rosbridge_server rosbridge_websocket.launch

Play rosbag data:

rosbag play [ws]/src/avatar_simulation/data/dice2_2023-06-20-20-55-48.bag

You can press space to pause/unpause the bag play.

Play Unity scene

Select ROSConnector in the Hierarchy in Unity, enbale Subscribe joint states for Joint State Patcher.

Click play.

You can move around the XROrigin to adjust the VR camera pose