# Priority 1 Implementation - Animation, Camera, Navigation
**Date**: 2025-12-07
**Status**: ✅ Implemented
## Overview
Implemented three critical portmanteau tools to fill Priority 1 gaps:
1. **robot_animation** - Animation and behavior control
2. **robot_camera** - Camera and visual feed control
3. **robot_navigation** - Path planning and navigation
## Tools Implemented
### 1. robot_animation
**File**: `src/robotics_mcp/tools/robot_animation.py`
**Operations**:
- `animate_wheels` - Rotate wheels during movement (Scout mecanum wheels)
- `animate_movement` - Play movement animations (walk, turn, etc.)
- `set_pose` - Set robot pose (sitting, standing, etc. for Unitree)
- `play_animation` - Play custom animations
- `stop_animation` - Stop current animation
- `get_animation_state` - Get current animation state
**Unity Script**: `Assets/Scripts/RobotAnimator.cs`
- Handles wheel rotation for mecanum wheels
- Supports Animator Controller for movement animations
- Pose control via triggers
- Animation state tracking
### 2. robot_camera
**File**: `src/robotics_mcp/tools/robot_camera.py`
**Operations**:
- `get_camera_feed` - Get live camera feed (physical Scout camera)
- `get_virtual_camera` - Get Unity camera view from robot perspective
- `set_camera_angle` - Adjust camera angle (pitch/yaw)
- `capture_image` - Capture still image (PNG, base64 or file)
- `start_streaming` - Start video stream
- `stop_streaming` - Stop video stream
- `get_camera_status` - Get camera status and settings
**Unity Script**: `Assets/Scripts/RobotCamera.cs`
- Automatic camera creation if none exists
- RenderTexture-based image capture
- Base64 encoding for MCP transport
- File saving support
- Streaming placeholder (WebRTC/MJPEG TODO)
### 3. robot_navigation
**File**: `src/robotics_mcp/tools/robot_navigation.py`
**Operations**:
- `plan_path` - Plan path from A to B using NavMesh (A*)
- `follow_path` - Execute planned path
- `set_waypoint` - Set navigation waypoint
- `clear_waypoints` - Clear waypoint list
- `get_path_status` - Check path execution status
- `avoid_obstacle` - Dynamic obstacle avoidance
- `get_current_path` - Get current path being followed
**Unity Script**: `Assets/Scripts/RobotNavigator.cs`
- NavMeshAgent-based pathfinding
- Multi-waypoint path following
- Progress tracking (0.0 to 1.0)
- Obstacle avoidance via NavMesh sampling
- Path state management (planned, following, completed, failed)
## Integration
### Server Integration
- All three tools registered in `server.py`
- Imported and initialized in `RoboticsMCP.__init__()`
- Registered via `_register_tools()`
### Unity Integration
- Scripts copied to Unity project: `C:\Users\sandr\My project\Assets\Scripts\`
- All scripts use static methods for `execute_unity_method` calls
- Singleton pattern for instance management
- Automatic component addition if missing
## Marble Apartment Support
**File**: `C:\Users\sandr\Downloads\Modern Tropical Luxury Residence.spz`
**Integration**:
- Updated `virtual_robotics.load_environment` to accept `environment_path`
- Supports `.spz` files directly
- Uses `unity3d-mcp` `import_marble_world` tool
- Includes colliders for navigation
**Usage**:
```python
await virtual_robotics(
action="load_environment",
environment="Modern Tropical Luxury Residence",
environment_path="C:\\Users\\sandr\\Downloads\\Modern Tropical Luxury Residence.spz",
platform="unity"
)
```
## Example Workflows
### 1. Spawn Scout and Animate Wheels
```python
# Spawn Scout
await vbot_crud(
operation="create",
robot_type="scout",
robot_id="scout_01",
platform="unity",
position={"x": 0, "y": 0, "z": 0}
)
# Animate wheels
await robot_animation(
robot_id="scout_01",
action="animate_wheels",
wheel_speeds={
"front_left": 1.0,
"front_right": 1.0,
"back_left": 1.0,
"back_right": 1.0
}
)
```
### 2. Capture Camera Image
```python
# Capture image
await robot_camera(
robot_id="scout_01",
action="capture_image",
output_path="C:/Images/scout_view.png"
)
```
### 3. Plan and Follow Path
```python
# Plan path
path_result = await robot_navigation(
robot_id="scout_01",
action="plan_path",
start_position={"x": 0, "y": 0, "z": 0},
goal_position={"x": 5, "y": 0, "z": 0}
)
path_id = path_result["data"]["path_id"]
# Follow path
await robot_navigation(
robot_id="scout_01",
action="follow_path",
path_id=path_id
)
```
## Next Steps
1. ✅ Tools implemented
2. ✅ Unity scripts created
3. ✅ Server integration complete
4. ⏳ Test with Unity Editor
5. ⏳ Test with Marble apartment
6. ⏳ Add NavMesh to Marble environment (if needed)
7. ⏳ Test full workflow (spawn → animate → navigate → capture)
## Notes
- All tools support both virtual and physical robots (physical stubs ready for ROS)
- Unity scripts auto-create components if missing
- NavMesh required for navigation (bake NavMesh in Unity)
- Camera creates automatically if robot has no camera component
- Animation requires Animator Controller for complex animations (wheels work without)