Visualizers

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tutorials/pick_and_place/PickAndPlaceProject/Assets/DebugDrawTest.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using FLU = ROSGeometry.FLU;
+using RVector3 = ROSGeometry.Vector3<ROSGeometry.FLU>;
+using static ROSGeometry.CoordinateSpaceExtensions;
+
+public class DebugDrawTest : MonoBehaviour
+{
+    public GameObject pivot;
+    void Start()
+    {
+        DebugDraw.Drawing drawing = DebugDraw.instance.CreateDrawing();
+        MessageVisualizations<FLU>.DrawQuaternion(drawing, pivot.transform.rotation.To<FLU>(), pivot.transform.position);
+    }
+}

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tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/Moveit/msg/RobotTrajectory.cs

+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using RosMessageGeneration;
+
+namespace RosMessageTypes.Moveit
+{
+    public class RobotTrajectory : Message
+    {
+        public const string RosMessageName = "moveit_msgs/RobotTrajectory";
+
+        public Trajectory.JointTrajectory joint_trajectory;
+        public Trajectory.MultiDOFJointTrajectory multi_dof_joint_trajectory;
+
+        public RobotTrajectory()
+        {
+            this.joint_trajectory = new Trajectory.JointTrajectory();
+            this.multi_dof_joint_trajectory = new Trajectory.MultiDOFJointTrajectory();
+        }
+
+        public RobotTrajectory(Trajectory.JointTrajectory joint_trajectory, Trajectory.MultiDOFJointTrajectory multi_dof_joint_trajectory)
+        {
+            this.joint_trajectory = joint_trajectory;
+            this.multi_dof_joint_trajectory = multi_dof_joint_trajectory;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(joint_trajectory.SerializationStatements());
+            listOfSerializations.AddRange(multi_dof_joint_trajectory.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.joint_trajectory.Deserialize(data, offset);
+            offset = this.multi_dof_joint_trajectory.Deserialize(data, offset);
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "RobotTrajectory: " +
+            "\njoint_trajectory: " + joint_trajectory.ToString() +
+            "\nmulti_dof_joint_trajectory: " + multi_dof_joint_trajectory.ToString();
+        }
+    }
+}

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tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/NiryoMoveit/msg/NiryoMoveitJoints.cs

+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using RosMessageGeneration;
+
+namespace RosMessageTypes.NiryoMoveit
+{
+    public class NiryoMoveitJoints : Message
+    {
+        public const string RosMessageName = "niryo_moveit/NiryoMoveitJoints";
+
+        public double joint_00;
+        public double joint_01;
+        public double joint_02;
+        public double joint_03;
+        public double joint_04;
+        public double joint_05;
+        public Geometry.Pose pick_pose;
+        public Geometry.Pose place_pose;
+
+        public NiryoMoveitJoints()
+        {
+            this.joint_00 = 0.0;
+            this.joint_01 = 0.0;
+            this.joint_02 = 0.0;
+            this.joint_03 = 0.0;
+            this.joint_04 = 0.0;
+            this.joint_05 = 0.0;
+            this.pick_pose = new Geometry.Pose();
+            this.place_pose = new Geometry.Pose();
+        }
+
+        public NiryoMoveitJoints(double joint_00, double joint_01, double joint_02, double joint_03, double joint_04, double joint_05, Geometry.Pose pick_pose, Geometry.Pose place_pose)
+        {
+            this.joint_00 = joint_00;
+            this.joint_01 = joint_01;
+            this.joint_02 = joint_02;
+            this.joint_03 = joint_03;
+            this.joint_04 = joint_04;
+            this.joint_05 = joint_05;
+            this.pick_pose = pick_pose;
+            this.place_pose = place_pose;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.Add(BitConverter.GetBytes(this.joint_00));
+            listOfSerializations.Add(BitConverter.GetBytes(this.joint_01));
+            listOfSerializations.Add(BitConverter.GetBytes(this.joint_02));
+            listOfSerializations.Add(BitConverter.GetBytes(this.joint_03));
+            listOfSerializations.Add(BitConverter.GetBytes(this.joint_04));
+            listOfSerializations.Add(BitConverter.GetBytes(this.joint_05));
+            listOfSerializations.AddRange(pick_pose.SerializationStatements());
+            listOfSerializations.AddRange(place_pose.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            this.joint_00 = BitConverter.ToDouble(data, offset);
+            offset += 8;
+            this.joint_01 = BitConverter.ToDouble(data, offset);
+            offset += 8;
+            this.joint_02 = BitConverter.ToDouble(data, offset);
+            offset += 8;
+            this.joint_03 = BitConverter.ToDouble(data, offset);
+            offset += 8;
+            this.joint_04 = BitConverter.ToDouble(data, offset);
+            offset += 8;
+            this.joint_05 = BitConverter.ToDouble(data, offset);
+            offset += 8;
+            offset = this.pick_pose.Deserialize(data, offset);
+            offset = this.place_pose.Deserialize(data, offset);
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "NiryoMoveitJoints: " +
+            "\njoint_00: " + joint_00.ToString() +
+            "\njoint_01: " + joint_01.ToString() +
+            "\njoint_02: " + joint_02.ToString() +
+            "\njoint_03: " + joint_03.ToString() +
+            "\njoint_04: " + joint_04.ToString() +
+            "\njoint_05: " + joint_05.ToString() +
+            "\npick_pose: " + pick_pose.ToString() +
+            "\nplace_pose: " + place_pose.ToString();
+        }
+    }
+}

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tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/NiryoMoveit/msg/NiryoTrajectory.cs

+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using RosMessageGeneration;
+
+namespace RosMessageTypes.NiryoMoveit
+{
+    public class NiryoTrajectory : Message
+    {
+        public const string RosMessageName = "niryo_moveit/NiryoTrajectory";
+
+        public Moveit.RobotTrajectory[] trajectory;
+
+        public NiryoTrajectory()
+        {
+            this.trajectory = new Moveit.RobotTrajectory[0];
+        }
+
+        public NiryoTrajectory(Moveit.RobotTrajectory[] trajectory)
+        {
+            this.trajectory = trajectory;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            
+            listOfSerializations.Add(BitConverter.GetBytes(trajectory.Length));
+            foreach(var entry in trajectory)
+                listOfSerializations.Add(entry.Serialize());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            
+            var trajectoryArrayLength = DeserializeLength(data, offset);
+            offset += 4;
+            this.trajectory= new Moveit.RobotTrajectory[trajectoryArrayLength];
+            for(var i = 0; i < trajectoryArrayLength; i++)
+            {
+                this.trajectory[i] = new Moveit.RobotTrajectory();
+                offset = this.trajectory[i].Deserialize(data, offset);
+            }
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "NiryoTrajectory: " +
+            "\ntrajectory: " + System.String.Join(", ", trajectory.ToList());
+        }
+    }
+}

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tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/NiryoMoveit/srv/MoverServiceRequest.cs

+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using RosMessageGeneration;
+
+namespace RosMessageTypes.NiryoMoveit
+{
+    public class MoverServiceRequest : Message
+    {
+        public const string RosMessageName = "niryo_moveit/MoverService";
+
+        public NiryoMoveitJoints joints_input;
+        public Geometry.Pose pick_pose;
+        public Geometry.Pose place_pose;
+
+        public MoverServiceRequest()
+        {
+            this.joints_input = new NiryoMoveitJoints();
+            this.pick_pose = new Geometry.Pose();
+            this.place_pose = new Geometry.Pose();
+        }
+
+        public MoverServiceRequest(NiryoMoveitJoints joints_input, Geometry.Pose pick_pose, Geometry.Pose place_pose)
+        {
+            this.joints_input = joints_input;
+            this.pick_pose = pick_pose;
+            this.place_pose = place_pose;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(joints_input.SerializationStatements());
+            listOfSerializations.AddRange(pick_pose.SerializationStatements());
+            listOfSerializations.AddRange(place_pose.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.joints_input.Deserialize(data, offset);
+            offset = this.pick_pose.Deserialize(data, offset);
+            offset = this.place_pose.Deserialize(data, offset);
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "MoverServiceRequest: " +
+            "\njoints_input: " + joints_input.ToString() +
+            "\npick_pose: " + pick_pose.ToString() +
+            "\nplace_pose: " + place_pose.ToString();
+        }
+    }
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/NiryoMoveit/srv/MoverServiceRequest.cs.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/NiryoMoveit/srv/MoverServiceResponse.cs

+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using RosMessageGeneration;
+
+namespace RosMessageTypes.NiryoMoveit
+{
+    public class MoverServiceResponse : Message
+    {
+        public const string RosMessageName = "niryo_moveit/MoverService";
+
+        public Moveit.RobotTrajectory[] trajectories;
+
+        public MoverServiceResponse()
+        {
+            this.trajectories = new Moveit.RobotTrajectory[0];
+        }
+
+        public MoverServiceResponse(Moveit.RobotTrajectory[] trajectories)
+        {
+            this.trajectories = trajectories;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            
+            listOfSerializations.Add(BitConverter.GetBytes(trajectories.Length));
+            foreach(var entry in trajectories)
+                listOfSerializations.Add(entry.Serialize());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            
+            var trajectoriesArrayLength = DeserializeLength(data, offset);
+            offset += 4;
+            this.trajectories= new Moveit.RobotTrajectory[trajectoriesArrayLength];
+            for(var i = 0; i < trajectoriesArrayLength; i++)
+            {
+                this.trajectories[i] = new Moveit.RobotTrajectory();
+                offset = this.trajectories[i].Deserialize(data, offset);
+            }
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "MoverServiceResponse: " +
+            "\ntrajectories: " + System.String.Join(", ", trajectories.ToList());
+        }
+    }
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/NiryoMoveit/srv/MoverServiceResponse.cs.meta

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+  assetBundleVariant: 

tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/MoverServiceRequest_Visualizer.cs

+using RosMessageGeneration;
+using RosMessageTypes.NiryoMoveit;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using ROSGeometry;
+
+[VisualizeMessage(typeof(MoverServiceRequest))]
+public class MoverServiceRequest_Visualizer : MessageVisualizerDrawing<MoverServiceRequest>
+{
+    public override void DrawGUI(DebugDraw.Drawing drawing, MoverServiceRequest message)
+    {
+        GUILayout.Label(message.ToString());
+    }
+
+    public override void Draw(DebugDraw.Drawing drawing, MoverServiceRequest message)
+    {
+        MessageVisualizations<FLU>.DrawPose(drawing, message.pick_pose, Color.cyan, "pick", 0.01f);
+        MessageVisualizations<FLU>.DrawPose(drawing, message.place_pose, Color.red, "place", 0.01f);
+    }
+}
+

tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/MoverServiceRequest_Visualizer.cs.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/MoverServiceResponse_Visualizer.cs

+using RosMessageGeneration;
+using RosMessageTypes.NiryoMoveit;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using ROSGeometry;
+using RosMessageTypes.Moveit;
+using RosMessageTypes.Trajectory;
+
+[VisualizeMessage(typeof(MoverServiceResponse))]
+public class MoverServiceResponse_Visualizer : MessageVisualizerDrawing<MoverServiceResponse>
+{
+    public override void DrawGUI(DebugDraw.Drawing drawing, MoverServiceResponse message)
+    {
+        base.DrawGUI(drawing, message);
+    }
+
+    public override void Draw(DebugDraw.Drawing drawing, MoverServiceResponse message)
+    {
+    }
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/MoverServiceResponse_Visualizer.cs.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/SourceDestinationPublisher.cs

+using RosMessageTypes.Geometry;
+using RosMessageTypes.NiryoMoveit;
+using UnityEngine;
+using ROSGeometry;
+using Quaternion = UnityEngine.Quaternion;
+
+public class SourceDestinationPublisher : MonoBehaviour
+{
+    // ROS Connector
+    private ROSConnection ros;
+    
+    // Variables required for ROS communication
+    public string topicName = "SourceDestination_input";
+
+    public GameObject niryoOne;
+    public GameObject target;
+    public GameObject targetPlacement;
+    
+    private int numRobotJoints = 6;
+    private readonly Quaternion pickOrientation = Quaternion.Euler(90, 90, 0);
+    
+    // Articulation Bodies
+    private ArticulationBody[] jointArticulationBodies;
+    
+    /// <summary>
+    /// 
+    /// </summary>
+    void Start()
+    {
+        // Get ROS connection static instance
+        ros = ROSConnection.instance;
+
+        jointArticulationBodies = new ArticulationBody[numRobotJoints];
+        string shoulder_link = "world/base_link/shoulder_link";
+        jointArticulationBodies[0] = niryoOne.transform.Find(shoulder_link).GetComponent<ArticulationBody>();
+
+        string arm_link = shoulder_link + "/arm_link";
+        jointArticulationBodies[1] = niryoOne.transform.Find(arm_link).GetComponent<ArticulationBody>();
+        
+        string elbow_link = arm_link + "/elbow_link";
+        jointArticulationBodies[2] = niryoOne.transform.Find(elbow_link).GetComponent<ArticulationBody>();
+        
+        string forearm_link = elbow_link + "/forearm_link";
+        jointArticulationBodies[3] = niryoOne.transform.Find(forearm_link).GetComponent<ArticulationBody>();
+        
+        string wrist_link = forearm_link + "/wrist_link";
+        jointArticulationBodies[4] = niryoOne.transform.Find(wrist_link).GetComponent<ArticulationBody>();
+        
+        string hand_link = wrist_link + "/hand_link";
+        jointArticulationBodies[5] = niryoOne.transform.Find(hand_link).GetComponent<ArticulationBody>();
+    }
+
+    public void Publish()
+    {
+        NiryoMoveitJoints sourceDestinationMessage = new NiryoMoveitJoints();
+
+        sourceDestinationMessage.joint_00 = jointArticulationBodies[0].xDrive.target;
+        sourceDestinationMessage.joint_01 = jointArticulationBodies[1].xDrive.target;
+        sourceDestinationMessage.joint_02 = jointArticulationBodies[2].xDrive.target;
+        sourceDestinationMessage.joint_03 = jointArticulationBodies[3].xDrive.target;
+        sourceDestinationMessage.joint_04 = jointArticulationBodies[4].xDrive.target;
+        sourceDestinationMessage.joint_05 = jointArticulationBodies[5].xDrive.target;
+
+        // Pick Pose
+        sourceDestinationMessage.pick_pose = new RosMessageTypes.Geometry.Pose
+        {
+            position = target.transform.position.To<FLU>(),
+            orientation = Quaternion.Euler(90, target.transform.eulerAngles.y, 0).To<FLU>()
+        };
+
+        // Place Pose
+        sourceDestinationMessage.place_pose = new RosMessageTypes.Geometry.Pose
+        {
+            position = targetPlacement.transform.position.To<FLU>(),
+            orientation = pickOrientation.To<FLU>()
+        };
+
+        // Finally send the message to server_endpoint.py running in ROS
+        ros.Send(topicName, sourceDestinationMessage);
+    }
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/SourceDestinationPublisher.cs.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/TrajectoryPlanner.cs

+using System.Collections;
+using System.Linq;
+using RosMessageTypes.Geometry;
+using RosMessageTypes.NiryoMoveit;
+using UnityEngine;
+
+using ROSGeometry;
+using Quaternion = UnityEngine.Quaternion;
+using RosImage = RosMessageTypes.Sensor.Image;
+using Transform = UnityEngine.Transform;
+using Vector3 = UnityEngine.Vector3;
+
+
+public class TrajectoryPlanner : MonoBehaviour
+{
+    // ROS Connector
+    private ROSConnection ros;
+
+    // Hardcoded variables 
+    private int numRobotJoints = 6;
+    private readonly float jointAssignmentWait = 0.1f;
+    private readonly float poseAssignmentWait = 0.5f;
+    private readonly Vector3 pickPoseOffset = Vector3.up * 0.1f;
+    
+    // Assures that the gripper is always positioned above the target cube before grasping.
+    private readonly Quaternion pickOrientation = Quaternion.Euler(90, 90, 0);
+
+    // Variables required for ROS communication
+    public string rosServiceName = "niryo_moveit";
+
+    public GameObject niryoOne;
+    public GameObject target;
+    public GameObject targetPlacement;
+
+    // Articulation Bodies
+    private ArticulationBody[] jointArticulationBodies;
+    private ArticulationBody leftGripper;
+    private ArticulationBody rightGripper;
+
+    private Transform gripperBase;
+    private Transform leftGripperGameObject;
+    private Transform rightGripperGameObject;
+
+    private enum Poses
+    {
+        PreGrasp,
+        Grasp,
+        PickUp,
+        Place
+    };
+    
+    /// <summary>
+    ///     Close the gripper
+    /// </summary>
+    private void CloseGripper()
+    {
+        var leftDrive = leftGripper.xDrive;
+        var rightDrive = rightGripper.xDrive;
+
+        leftDrive.target = -0.01f;
+        rightDrive.target = 0.01f;
+
+        leftGripper.xDrive = leftDrive;
+        rightGripper.xDrive = rightDrive;
+    }
+
+    /// <summary>
+    ///     Open the gripper
+    /// </summary>
+    private void OpenGripper()
+    {
+        var leftDrive = leftGripper.xDrive;
+        var rightDrive = rightGripper.xDrive;
+
+        leftDrive.target = 0.01f;
+        rightDrive.target = -0.01f;
+
+        leftGripper.xDrive = leftDrive;
+        rightGripper.xDrive = rightDrive;
+    }
+
+    /// <summary>
+    ///     Get the current values of the robot's joint angles.
+    /// </summary>
+    /// <returns>NiryoMoveitJoints</returns>
+    NiryoMoveitJoints CurrentJointConfig()
+    {
+        NiryoMoveitJoints joints = new NiryoMoveitJoints();
+        
+        joints.joint_00 = jointArticulationBodies[0].xDrive.target;
+        joints.joint_01 = jointArticulationBodies[1].xDrive.target;
+        joints.joint_02 = jointArticulationBodies[2].xDrive.target;
+        joints.joint_03 = jointArticulationBodies[3].xDrive.target;
+        joints.joint_04 = jointArticulationBodies[4].xDrive.target;
+        joints.joint_05 = jointArticulationBodies[5].xDrive.target;
+
+        return joints;
+    }
+
+    /// <summary>
+    ///     Create a new MoverServiceRequest with the current values of the robot's joint angles,
+    ///     the target cube's current position and rotation, and the targetPlacement position and rotation.
+    ///
+    ///     Call the MoverService using the ROSConnection and if a trajectory is successfully planned,
+    ///     execute the trajectories in a coroutine.
+    /// </summary>
+    public void PublishJoints()
+    {
+        MoverServiceRequest request = new MoverServiceRequest();
+        request.joints_input = CurrentJointConfig();
+        
+        // Pick Pose
+        request.pick_pose = new RosMessageTypes.Geometry.Pose
+        {
+            position = (target.transform.position + pickPoseOffset).To<FLU>(),
+            // The hardcoded x/z angles assure that the gripper is always positioned above the target cube before grasping.
+            orientation = Quaternion.Euler(90, target.transform.eulerAngles.y, 0).To<FLU>()
+        };
+
+        // Place Pose
+        request.place_pose = new RosMessageTypes.Geometry.Pose
+        {
+            position = (targetPlacement.transform.position + pickPoseOffset).To<FLU>(),
+            orientation = pickOrientation.To<FLU>()
+        };
+
+        ros.SendServiceMessage<MoverServiceResponse>(rosServiceName, request, TrajectoryResponse);
+    }
+
+    void TrajectoryResponse(MoverServiceResponse response)
+    {
+        if (response.trajectories != null)
+        {
+            Debug.Log("Trajectory returned.");
+            StartCoroutine(ExecuteTrajectories(response));
+        }
+        else
+        {
+            Debug.LogError("No trajectory returned from MoverService.");
+        }
+    }
+
+    /// <summary>
+    ///     Execute the returned trajectories from the MoverService.
+    ///
+    ///     The expectation is that the MoverService will return four trajectory plans,
+    ///         PreGrasp, Grasp, PickUp, and Place,
+    ///     where each plan is an array of robot poses. A robot pose is the joint angle values
+    ///     of the six robot joints.
+    ///
+    ///     Executing a single trajectory will iterate through every robot pose in the array while updating the
+    ///     joint values on the robot.
+    /// 
+    /// </summary>
+    /// <param name="response"> MoverServiceResponse received from niryo_moveit mover service running in ROS</param>
+    /// <returns></returns>
+    private IEnumerator ExecuteTrajectories(MoverServiceResponse response)
+    {
+        if (response.trajectories != null)
+        {
+            // For every trajectory plan returned
+            for (int poseIndex  = 0 ; poseIndex < response.trajectories.Length; poseIndex++)
+            {
+                // For every robot pose in trajectory plan
+                for (int jointConfigIndex  = 0 ; jointConfigIndex < response.trajectories[poseIndex].joint_trajectory.points.Length; jointConfigIndex++)
+                {
+                    var jointPositions = response.trajectories[poseIndex].joint_trajectory.points[jointConfigIndex].positions;
+                    float[] result = jointPositions.Select(r=> (float)r * Mathf.Rad2Deg).ToArray();
+                    
+                    // Set the joint values for every joint
+                    for (int joint = 0; joint < jointArticulationBodies.Length; joint++)
+                    {
+                        var joint1XDrive  = jointArticulationBodies[joint].xDrive;
+                        joint1XDrive.target = result[joint];
+                        jointArticulationBodies[joint].xDrive = joint1XDrive;
+                    }
+                    // Wait for robot to achieve pose for all joint assignments
+                    yield return new WaitForSeconds(jointAssignmentWait);
+                }
+
+                // Close the gripper if completed executing the trajectory for the Grasp pose
+                if (poseIndex == (int)Poses.Grasp)
+                    CloseGripper();
+                
+                // Wait for the robot to achieve the final pose from joint assignment
+                yield return new WaitForSeconds(poseAssignmentWait);
+            }
+            // All trajectories have been executed, open the gripper to place the target cube
+            OpenGripper();
+        }
+    }
+
+    /// <summary>
+    ///     Find all robot joints in Awake() and add them to the jointArticulationBodies array.
+    ///     Find left and right finger joints and assign them to their respective articulation body objects.
+    /// </summary>
+    void Start()
+    {
+        // Get ROS connection static instance
+        ros = ROSConnection.instance;
+
+        jointArticulationBodies = new ArticulationBody[numRobotJoints];
+        string shoulder_link = "world/base_link/shoulder_link";
+        jointArticulationBodies[0] = niryoOne.transform.Find(shoulder_link).GetComponent<ArticulationBody>();
+
+        string arm_link = shoulder_link + "/arm_link";
+        jointArticulationBodies[1] = niryoOne.transform.Find(arm_link).GetComponent<ArticulationBody>();
+        
+        string elbow_link = arm_link + "/elbow_link";
+        jointArticulationBodies[2] = niryoOne.transform.Find(elbow_link).GetComponent<ArticulationBody>();
+        
+        string forearm_link = elbow_link + "/forearm_link";
+        jointArticulationBodies[3] = niryoOne.transform.Find(forearm_link).GetComponent<ArticulationBody>();
+        
+        string wrist_link = forearm_link + "/wrist_link";
+        jointArticulationBodies[4] = niryoOne.transform.Find(wrist_link).GetComponent<ArticulationBody>();
+        
+        string hand_link = wrist_link + "/hand_link";
+        jointArticulationBodies[5] = niryoOne.transform.Find(hand_link).GetComponent<ArticulationBody>();
+
+        // Find left and right fingers
+        string right_gripper = hand_link + "/tool_link/gripper_base/servo_head/control_rod_right/right_gripper";
+        string left_gripper = hand_link + "/tool_link/gripper_base/servo_head/control_rod_left/left_gripper";
+        string gripper_base = hand_link + "/tool_link/gripper_base/Collisions/unnamed";
+
+        gripperBase = niryoOne.transform.Find(gripper_base);
+        leftGripperGameObject = niryoOne.transform.Find(left_gripper);
+        rightGripperGameObject = niryoOne.transform.Find(right_gripper);
+
+        rightGripper = rightGripperGameObject.GetComponent<ArticulationBody>();
+        leftGripper = leftGripperGameObject.GetComponent<ArticulationBody>();
+    }
+
+    public void DrawTrajectory(double[] positions, DebugDraw drawing)
+    {
+/*        for (int Idx = 0; Idx < positions.Length; ++Idx)
+        {
+            jointArticulationBodies[Idx].;
+        }*/
+    }
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/TrajectoryPlanner.cs.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/TrajectoryVisualizer.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class TrajectoryVisualizer : MonoBehaviour
+{
+    public static TrajectoryVisualizer instance;
+    public GameObject niryoOne;
+
+    private void Awake()
+    {
+        instance = this;
+    }
+
+    public void DrawRobot(float[] joints, DebugDraw drawing)
+    {
+
+    }
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/TrajectoryVisualizer.cs.meta

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