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using UnityEngine;
using System.Collections.Generic;
public class UnityVisualizationManager : MonoBehaviour
{
public GameObject robotModelPrefab; // Assign your robot prefab in the inspector
private GameObject instantiatedRobot;
// This method could be called to initialize the robot in the scene
public void InitializeRobot(Vector3 position, Quaternion rotation)
{
if (robotModelPrefab != null)
{
instantiatedRobot = Instantiate(robotModelPrefab, position, rotation);
Debug.Log("Robot model initialized in Unity.");
}
else
{
Debug.LogError("Robot Model Prefab is not assigned!");
}
}
// This method could be used to update joint states from simulation
public void UpdateRobotJointStates(Dictionary<string, float> jointStates)
{
if (instantiatedRobot != null)
{
foreach (var jointState in jointStates)
{
// Find the corresponding joint in the robot model and update its rotation
// This is a simplified example; actual implementation would vary based on robot model
Transform jointTransform = FindDeepChild(instantiatedRobot.transform, jointState.Key);
if (jointTransform != null)
{
// Example: Apply rotation directly (replace with proper joint control)
jointTransform.localRotation = Quaternion.Euler(0, jointState.Value, 0);
}
}
Debug.Log("Robot joint states updated from simulation data.");
}
}
// Helper to find a child by name deep within the hierarchy
private Transform FindDeepChild(Transform aParent, string aName)
{
Queue<Transform> queue = new Queue<Transform>();
queue.Enqueue(aParent);
while (queue.Count > 0)
{
var c = queue.Dequeue();
if (c.name == aName)
return c;
foreach(Transform t in c)
queue.Enqueue(t);
}
return null;
}
// Example usage (for testing purposes)
void Start()
{
// Example initialization
// InitializeRobot(Vector3.zero, Quaternion.identity);
// Example joint state update
// Dictionary<string, float> testJoints = new Dictionary<string, float>
// {
// { "shoulder_pan_joint", 30.0f },
// { "elbow_joint", -45.0f }
// };
// UpdateRobotJointStates(testJoints);
}
}
// TODO: Expand this Unity visualization example to include full digital twin synchronization.
// This would involve:
// 1. Receiving real-time robot state data from an external simulation (e.g., Gazebo via ROS 2 Unity Bridge).
// 2. Accurately visualizing the robot model's pose, joint states, and sensor feedback in Unity.
// 3. Implementing user interaction (e.g., teleoperation) in Unity that can control the external simulation.
// Ensure the example is reproducible and clearly explains setup steps (e.g., Unity project setup,
// ROS 2 Unity Bridge integration, asset import).
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