{"id":14959912,"url":"https://github.com/unity-technologies/articulations-robot-demo","last_synced_at":"2025-04-06T08:14:06.256Z","repository":{"id":45436882,"uuid":"238269753","full_name":"Unity-Technologies/articulations-robot-demo","owner":"Unity-Technologies","description":null,"archived":false,"fork":false,"pushed_at":"2021-12-13T23:53:46.000Z","size":115689,"stargazers_count":356,"open_issues_count":12,"forks_count":84,"subscribers_count":20,"default_branch":"master","last_synced_at":"2025-04-06T08:13:56.615Z","etag":null,"topics":["manipulation","physics-3d","physics-simulation","reinforcement-learning","robot","robot-manipulator","robot-simulation","robotics","robotics-development","robotics-simulation","simulation","unity","unity-robotics","ur3-robot-arm"],"latest_commit_sha":null,"homepage":"","language":"C#","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Unity-Technologies.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2020-02-04T17:55:55.000Z","updated_at":"2025-04-01T17:02:29.000Z","dependencies_parsed_at":"2022-08-12T11:52:09.877Z","dependency_job_id":null,"html_url":"https://github.com/Unity-Technologies/articulations-robot-demo","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Unity-Technologies%2Farticulations-robot-demo","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Unity-Technologies%2Farticulations-robot-demo/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Unity-Technologies%2Farticulations-robot-demo/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Unity-Technologies%2Farticulations-robot-demo/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Unity-Technologies","download_url":"https://codeload.github.com/Unity-Technologies/articulations-robot-demo/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247451665,"owners_count":20940944,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["manipulation","physics-3d","physics-simulation","reinforcement-learning","robot","robot-manipulator","robot-simulation","robotics","robotics-development","robotics-simulation","simulation","unity","unity-robotics","ur3-robot-arm"],"created_at":"2024-09-24T13:21:04.123Z","updated_at":"2025-04-06T08:14:06.230Z","avatar_url":"https://github.com/Unity-Technologies.png","language":"C#","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Unity Robotics Demos\n\nThe recent integration of [Nvidia's PhysX 4](https://news.developer.nvidia.com/announcing-physx-sdk-4-0-an-open-source-physics-engine/) into Unity has dramatically improved the quality of robotics simulation that is possible in Unity. \n\n* The new [articulation joint system](https://docs.unity3d.com/2020.1/Documentation/ScriptReference/ArticulationBody.html) (available in 2020.1) is much better suited to building things like robot arms than the older joint types available in Unity. It uses Featherstone's algorithm and a reduced coordinate representation to gaurantee no unwanted stretch in the joints. In practice, this means that we can now chain many joints in a row and still achieve stable and precise movement. \n\n* The new [Temporal Gauss Seidel (TGS) solver](https://gameworksdocs.nvidia.com/PhysX/4.0/documentation/PhysXGuide/Manual/RigidBodyDynamics.html#temporal-gauss-seidel) also supports more accurate simulation. \n\n## Installation\n\nUnity 2020.10b1 or later is needed for the new joint system. \n\n#### Install Unity\n\nIf you do not have Unity 2020.1.0b1 or later, add the latest 2020.1 beta release\nthrough [Unity Hub](https://unity3d.com/get-unity/download). This demo has been\nlast tested on Unity 2020.1.0b5.\n\n#### Clone the Articulations Robot Demo Repo\n\nClone this repository:\n```sh\ngit clone https://github.com/Unity-Technologies/articulations-robot-demo.git\n```\n\nThen, open the `ArmRobot` project in Unity.\n\n## UR3 Robot Arm\n\n\u003cimg align=\"right\" style=\"padding-left: 10px; padding-right: 10px; padding-bottom: 10px\" height=\"250px\" src=\"docs/images/robot_still.png\"\u003e\n\nThis is a simulation of the [Universal Robotics UR3e](https://www.universal-robots.com/products/ur3-robot/) robot. You can steer it by directly rotating all six joints of the arm. You can also rotate the end effector, and open and close the pincher. \n\nOpen `Scenes` \u003e `ArticulationRobot`, and press play.\n\n#### Manual Controls\n\nYou can move the robot around manually using the following keyboard commands:\n\n```\nA/D - rotate base joint\nS/W - rotate shoulder joint\nQ/E - rotate elbow joint\nO/P - rotate wrist1\nK/L - rotate wrist2\nN/M - rotate wrist3\nV/B - rotate hand\nX - close pincher\nZ - open pincher\n```\n\nAll manual control is handled through the scripts on the `ManualInput` object. To disable\nmanual input, just uncheck this object in the Hierarchy window.\n\nYou can learn more about how this robot was built with articulations by following our guide [here](docs/Building-With-Articulations.md). \n\n## Robotiq Hand-E Gripper \n\n\u003cimg align=\"right\" style=\"padding-left: 10px; padding-right: 10px; padding-bottom: 10px\" height=\"300px\" src=\"docs/images/hand-e.gif\"\u003e\n\nThis simulation focuses on picking up objects with the [Robotiq Hand-E Gripper](https://robotiq.com/products/hand-e-adaptive-robot-gripper).\n\nOpen `Scenes` \u003e `GripperScene`, and press play. Try to pick up the cube and drop it!\n\n#### Manual Controls\n\nUse the following keyboard commands:\n\n```\nG - down\nH - up\nX - close pinhcer\nZ - open pincher\n```\n\n## ML-Agents Integration\n\nThe Articulation Robot Demo has been integrated with the [ML-Agents Toolkit](https://github.com/Unity-Technologies/ml-agents) on [this branch.](https://github.com/Unity-Technologies/articulations-robot-demo/tree/mlagents)\n__Note:__ The integration is not up to date with the latest `master` branch.\n\n## Survey\n\nYour opinion matters a great deal to us. Only by hearing your thoughts can we continue to make Unity a better simulator for robotics. Please take a few minutes to let us know about it.\n\n[Fill out the survey](https://docs.google.com/forms/d/e/1FAIpQLSc77ah4azt6D4AOxCWhjpCBgM6Si6f0DA_dunM-ZhDf5xJlgg/viewform)\n\n## License\n\n[Apache License 2.0](LICENSE)\n\n\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Funity-technologies%2Farticulations-robot-demo","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Funity-technologies%2Farticulations-robot-demo","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Funity-technologies%2Farticulations-robot-demo/lists"}