Pick and Place Operation in Unity Client

[Neroware]

The pick and place operation should be implemented to move a rigid body from one point to another using Unity's own physics and the URDF controller from the cobot.

• Operational invocations should be received from operation requests to the Asset Administration Shell of the cobot
• After the simulation is finished, the server should be notified if the Client is in PUSH-DATA mode
• In PULL-DATA mode, requests should be ignored by the Unity Client
• In SYNCHRONIZE mode, a NotImplementedException should be thrown

[Neroware]

We also need a model of the gripper, which is fixated at the end-effector...

[Neroware]

To implement a Pick-and-Place ROS service one can follow the Unity Robot Hub tutorial. This explains it in detail also importing a cobot using URDF and using ROS-Bridge for communication with ROS.

https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/pick_and_place/0_ros_setup.md