- Unity Editor 2022.3+
- Magic Leap Unity SDK 2.6.0-pre.R15
DHVisualizationManager.cs initializes all systems, processes AprilTag tracking data each frame RobotConfiguration.cs - ScriptableObject holding all tag-to-joint mappings for a robot TagMapping.cs - Maps one AprilTag ID to its list of joints and tag size DHJointDefinition.cs - Defines a single joint's ID, position offset, and rotation offset TagAnchorManager.cs - Creates/manages persistent anchor GameObjects for each AprilTag TagAnchor.cs - Single tracked tag's world position - persists when tracking lost PoseStabilizer.cs Deadband filter - rejects small pose changes to reduce jitter JointVisualizerManager.cs - Spawns XYZ axis prefabs for all joints, controls visibility JointVisual.cs - Controls one joint's XYZ axis display, waits for tracking before showing VisualizationState.cs - Enum of states: Initializing → AssigningJoint0...N → Complete VisualizationStateController.cs - State machine - tracks current joint, fires events on advance/back InputHandler.cs ML2 controller input - Trigger=next joint, Bumper=previous VisualizationUIController.cs - Updates UI text ("Step N", "Joint N Assignment") on state changes