README.md

Pick-and-Place Tutorial

This tutorial will go through the steps necessary to integrate ROS with Unity, from installing the Unity Editor to creating a scene with an imported URDF to completing a pick-and-place task with known poses using MoveIt trajectory planning.

Note: This project was built using the ROS Melodic distro and Python 2.

Table of Contents

• Pick-and-Place Tutorial
  • Part 1: Create Unity scene with imported URDF
  • Part 2: ROS–Unity Integration
  • Part 3: Pick-and-Place

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Part 1: Create Unity scene with imported URDF

This part includes downloading and installing the Unity Editor, setting up a basic Unity scene, and importing a robot--the Niryo One--using the URDF Importer.

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Part 2: ROS–Unity Integration

This part assumes you have access to a functional ROS workspace. Steps covered include creating a TCP connection between Unity and ROS, generating C# scripts from a ROS msg and srv files, and publishing to a ROS topic.

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Part 3: Pick-and-Place

This part includes the preparation and setup necessary to run a pick-and-place task with known poses using MoveIt. Steps covered include creating and invoking a motion planning service in ROS, moving a Unity Articulation Body based on a calculated trajectory, and controlling a gripping tool to successfully grasp and drop an object.