Simulation without ROS

[BrokeSkill]

Can this repo be used without a ROS connection but just controlling Sport trough Unity directly?

[bryceikeda]

@BrokeSkill Yup, anything in Unity doesn't need ROS. It depends how you want to control it. Do you have code that outputs the joint angles as you control it? Or do you want it animated walking with animated joints without any real world control of the legs?

[TheGodSkill]

hello, thanks for answering, i just want to control it with the arrows in unity editor while in playmode , is that possible? if yes, how?

[TheGodSkill]

also im on an different account so sorry lol

[bryceikeda]

Everything in Unity can be done normally. For example, controlling a gameobject with keyboard input: https://gigi.nullneuron.net/gigilabs/unity3d-moving-an-object-with-keyboard-input/

In terms of animating the legs as it moves, I'm not sure how to do that unfortunately.

[TheGodSkill]

but in your repo, it works by ROS sending commands trough ROS right? Just want to not have that extra step of ROS before unity but directly moving it as id need to open up a virtual machine etc

[bryceikeda]

Correct, but I can animate the spot robot using ROS because ROS sends the joint angles for each leg. This is computed within ROS and sent to Unity. You could take those values and hard code them in so that the robot looks like it moves while you press the movement keys. Or you can figure out how to animate the joints using Unity's build in animation functions. I'm not sure how to do that however. There could be other ways to do it.

[TheGodSkill]

well then ill try to make ROS run on some other way easier, thanks for answering