Kinova VR: Unity Documentation Complete ✅
The comprehensive guide to the Unity "Digital Twin" interface is now finished. Here's a look at the "Safety First" architecture we built.
The "Why" Before the "How"
Documenting code is often seen as a chore, but in this project, it was essential. We are dealing with a Kinova Gen2 robot—a piece of hardware that can be dangerous if mishandled.
My documentation focuses not just on "what this script does", but on how the safety layers protect the hardware. The Unity interface isn't just a controller; it's a simulation sandbox that validates every move before it touches reality.
Key Architectural Pillars
1. The Ghost Robot
The user never controls the real robot directly. They control a translucent "Ghost" (Digital Twin). Waypoints are placed in this virtual space. If the ghost hits a singularity or a virtual wall, the command is rejected before sending a single byte to the network.
2. JSON Serialization
We abandoned complex ROS serialization in C# in favor of simple, robust JSON payloads.
{"action": "add_pose", "pos": [x,y,z], "quat": [w,x,y,z]}
Next Steps
With the Unity side documented and stable, the baton passes to the ROS 2 integration team (me, wearing a different hat 🧢). The focus now shifts to:
- Optimizing the Python TCP Bridge to reduce latency below 20ms.
- Adding visual feedback in VR when the real robot starts moving.
Check out the full technical breakdown on the Project Page.