Software

The AUTD3 SDK is implemented in Rust and also provides bindings for Python / C#. A package for Unity is also provided. The packages provided for each language are as follows.

autd3-rs: Client
autd3-rs-core: Core layer
autd3-rs-pattern: Pattern computation (single focal point, etc.)
autd3-rs-pattern-holo: Multi-focus optimization
autd3-rs-pattern-holo-wgpu: GPU backend for multi-focus optimization
autd3-rs-modulation: AM modulation computation
autd3-rs-emulator: Emulator that records emission data without real hardware
autd3-rs-link-echocat: AUTD3 dedicated EtherCAT Link
autd3-rs-link-ethercrab: EtherCrab-based Link
autd3-rs-link-soem: SOEM-based Link (GPL-3.0-only)
autd3-rs-link-remote: Link for remote connections
autd3-rs-link-twincat: TwinCAT-based Link

Unity

The Unity package is distributed via the npm registry (npmjs).

The supported Unity version is 6 (6000.x) or later.

com.shinolab.autd3-sdk: Client
com.shinolab.autd3-sdk.core: Core layer
com.shinolab.autd3-sdk.pattern: Pattern computation (single focal point, etc.)
com.shinolab.autd3-sdk.pattern.holo: Multi-focus optimization
com.shinolab.autd3-sdk.modulation: AM modulation computation
com.shinolab.autd3-sdk.link.echocat: AUTD3 dedicated EtherCAT Link
com.shinolab.autd3-sdk.link.ethercrab: EtherCrab-based Link
com.shinolab.autd3-sdk.link.soem: SOEM-based Link (GPL-3.0-only)
com.shinolab.autd3-sdk.link.remote: Link for remote connections
com.shinolab.autd3-sdk.link.twincat: TwinCAT-based Link
com.shinolab.autd3-sdk.link.nop: Link that does nothing (for testing)

Installation

Add the scoped registry and the required packages to the Unity project’s Packages/manifest.json.

{
  "scopedRegistries": [
    {
        "name": "npmjs",
        "url": "https://registry.npmjs.org",
        "scopes": ["com.shinolab"]
    }
  ],
  "dependencies": {
    "com.shinolab.autd3-sdk": "0.6.0",
    "com.shinolab.autd3-sdk.pattern": "0.6.0",
    "com.shinolab.autd3-sdk.modulation": "0.6.0",
    "com.shinolab.autd3-sdk.link.echocat": "0.6.0"
  }
}

To do this from the GUI, add the following registry under Edit → Project Settings → Package Manager → Scoped Registries.

Name: npmjs
URL: https://registry.npmjs.org
Scope(s): com.shinolab

Then add the required packages from Window → Package Manager → My registries → npmjs.