Architecture Constraints¶
| Constraint Name | Description |
|---|---|
| HTC Vive | We need user position tracking and movement tracking. |
| ZED | For spatial mapping and a live stream of the environment. |
| Constraint Name | Description |
|---|---|
| Unity3D | Unity provides an interface for the HTC Vive with the steamVR plugin. On top of that it renders the simulation. |
| Gazebo&ROS | The simulation uses both systems. |
| OracleVM | We use the VM for running Ubuntu on the same machine. You can also just use Ubuntu on a separate machine. |
| Blender | We used blender to convert the roboy models so that Unity can import them. |
| Constraint Name | Description |
|---|---|
| ROSBridge | It connects the simulation on Ubuntu with Unity on Windows. |
| steamVR | We use this interface to use the API of the HTC Vive. |
| ZED | This interface connects the ZED (Roboy’s Eyes) with Unity. |
| PyXB | This is used for reading XML files in the Model/World Updater. |
| Constraint Name | Description |
|---|---|
| Windows 10 | We did not test it yet on other Windows versions. It may also work on older machines. |
| Ubuntu 16.04 | The simulation runs on Ubuntu. |
| Constraint Name | Description |
|---|---|
| C++ | The simulation is written in C++. |
| C# | Unity uses C# as the standard programming language. |
| Python | We use Python with the Blender API to automate the process of converting the roboy models. |