AR End-Effector Controller on the HoloLens 2

This is a Unity project I created to show how you can control a robot arm in Unity using inverse kinematics calculations from ROS. Specifically, I use relaxedIK to compute the joint positions given an end-effector position, and send that to an AR visualization on the HoloLens 2. Check out the github repository here. https://github.com/bryceikeda/FetchRelaxedIKHoloLens https://github.com/uwgraphics/relaxed_ik_core This can also be done with better performance using the compiled dll files from this repository: https://github.com/uwgraphics/relaxed_ik_unity Setup will probably be slightly different. However, I could not figure out how to rebuild this to get the files necessary for the Fetch robot. Requirements: Unity 2020.3.38f1 MRTK v2.7.3 with OpenXR, Examples, Extensions, Foundation, Standard Assets, Test Utilities, and Tools ROS TCP Connector v0.7.0 URDF Importer v0.5.2 ROS TCP Endpoint Holographic remoting on the HoloLens 2 ROS Noetic relaxedIK