Virtual Reality Robotic Workspace (Unity-Side Package)

Overview

This repository contains the Unity-side package for the virtual reality (VR) robotic workspace software project.

Citation

If you find this project useful, then please consider citing our work.

@inproceedings{tram2023intuitive,
  title={Intuitive Robot Integration via Virtual Reality Workspaces},
  author={Tram, Minh Q. and Cloud, Joseph M. and Beksi, William J},
  booktitle={Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  pages={11654--11660},
  year={2023}
}

Before You Begin

1. Make sure that SteamVR is installed and running on your machine.
2. Make sure that you have a VR headset connected to your machine.
3. Make sure you complete the initial SteamVR Room Setup.
4. Make sure that you have the ROS-side properly configured and running.

Quick Start

1. Clone this repository:

user@DESKTOP:~$ git clone https://github.com/robotic-vision-lab/VRRW-Unity.git

2. Open the project in Unity Hub:

The project was originally build on Unity 2021.3.3f1, but it has recently been refreshed to 2021.3.32f1 and verified to be working.

3. Start the ROS-side backend API:

See VRRW-ROS for more information.

4. Open the VR Robotic Workspace scene:

This should happen by default. However, if it does not then you can open the scene by navigating to Assets > Scenes > VR Robotic Workspace from within the Unity Editor.

5. Start the Unity-side package:

Hit the play button in the Unity Editor to start the package. Please note that at this point you should have SteamVR running with a VR headset connected and the ROS-side API running.

The robot should snap into position and you may begin interacting with the robot and additional objects in the scene.

License