Reachy2-UnityDigitalTwin

Reachy 2 Digital Twin based on Unity 2022.

The Unity package provides a virtual replica of the robot that mirrors its movements based on externally computed commands. It is designed for simulating Human-Robot Interaction (HRI) in XR applications without needing the physical robot.

Use this package to:

• Prototype XR interactions with a realistic robot model.
• Test HRI scenarios remotely or at scale.
• Create immersive demos where the robot appears to be present in the real world.

Requirements

This package requires Reachy 2's core stack to be running, either on a real robot or through the standalone Docker image.

Check what you need to install:

If you have a Reachy 2 robot

There's nothing to install — everything is already set up on the robot!

You can use the robot in fake mode to move the digital twin without moving the physical robot.

If you do not have a robot

To set up the core stack on your machine, you can:

• follow the online Reachy 2 Simulation Installation Guide
  OR
• go directly to the Reachy 2 Docker Image on Docker Hub for setup instructions.

Use Reachy2 Digital Twin into your application

1. Download the Unity package from the releases.

2. Create a new 3D Unity project (or open an existing one), and set up your project and cameras based on the type of application you are targeting (VR, AR, etc.).

3. Download the grpc_unity_package from the gRPC daily builds.
   Unzip it in your Unity project Assets folder.

4. In Unity, go to Assets > Import Package > Custom Package... and import the downloaded reachy2-digital-twin.unitypackage.
   You should now see a Reachy2 folder inside your Assets directory.

5. Drag and drop Reachy2 and Reachy2DataClient prefabs from Assets/Reachy2/Prefabs into your scene.

6. In the Scene Hierarchy, select the Reachy2 object.
   In the Inspector, find the Reachy2DataMessageManager script and assign the Reachy2DataClient GameObject to its DataMessageManager field (by dragging it from the hierarchy).

7. Select the Reachy2DataClient GameObject in the hierarchy and set the IP address in the Inspector.
   This IP must match the machine where the reachy2-core stack is running. If you are using a Reachy 2 robot, then set the IP address of your robot.

Use "localhost" only if your Unity application and the core stack are running on the same machine.

8. Make sure reachy2-core stack is running.

9. Click Play in Unity or build your application.
   Then start sending commands to reachy2-core using the Python SDK, the digital twin will do the same!

⚠️ The Unity digital twin only mirrors the robot's movements.
Ensure that your Python SDK connects to the same IP address as the one set in Reachy2DataClient.