![]() This feature will allow users to initialize objects in feasible locations, and can also be used for motion planning. These simple, GameObject-less shapes allow for collision detection without requiring simulation (i.e., without calling Physics.Simulate). 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. Custom shapes will improve the accuracy of simulating wheels over rough terrains, holes, etc. Currently the collider shape is fixed to a cylinder, and collision detection is performed by casting a ray from the center of the cylinder. This feature will allow the user to specify the shape of the collider to be used for collision detection. Here’s a peek into what our Physics Team is hard at work on… Read more about continuous collision detection. This API is available in Unity versions 2020.3.5f1+. 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. Collision detection modes exposed for ArticulationBody: discrete, sweep-based CCD, and speculative CCD.Read more about the new Contact Modification API. It is available in Unity versions 2021.2a12+. 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.New Physics Features in Unity New Features Use articulation bodies to easily prototype industrial designs with realistic motion and behavior blog post Unite Now 2020: Simulating Robots with ROS and Unity videoĪnnouncing Unity Robotic Simulation blog post (November 19, 2020) Robotics simulation in Unity is as easy as 1, 2, 3! blog post.(March 2, 2021) Teaching robots to see with Unity blog post.(August 13, 2021) Advance your robot autonomy with ROS 2 and Unity blog post.(October 4, 2021) Introducing: Unity Robotics Visualizations Package blog post.Unity package for sending, receiving, and visualizing messages from ROSĪdditional Resources Blog Posts and Talks ROS node for sending/receiving messages from Unity Usage instructions for adding visualizations for incoming and outgoing ROS messages Steps on using the Unity package for loading URDF files Documentation TutorialĪ set of component-level tutorials showing how to set up communication between ROS and Unity Navigation 2 SLAM ExampleĪn example simulation environment, integrated with ROS 2 and Visualizations, which enables the exercise of ROS 2's Navigation 2 and slam_toolbox packages using a simulated Turtlebot 3. Articulations Robot DemoĪ robot simulation demonstrating Unity's new physics solver (no ROS dependency). This model is then deployed in a simulated robotic pick-and-place task. Object Pose Estimation TutorialĪ 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. Pick-and-Place TutorialĪ 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. Getting Started Quick Installation Instructionsīrief steps on installing the Unity Robotics packages. Try out some of our samples below to get started quickly. We're starting off with a set of tools to make it easier to use Unity with existing ROS-based workflows. Simulation plays an important role in robotics development, and we’re here to ensure that roboticists can use Unity for these simulations. We're currently working on lots of things! Please take a short moment fill out our survey to help us identify what products and packages to build next. Its features and API are subject to significant change as development progresses. The contents of this repository are in active development. This is a central repository for tools, tutorials, resources, and documentation for robotic simulation in Unity.
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