[AIRO-284] add quick demo (#92)

* add quick demo scene and script * updated tutorials
3 年前 · 7c09f240
--- a/tutorials/pick_and_place/0_ros_setup.md
+++ b/tutorials/pick_and_place/0_ros_setup.md
 1. Start the newly built Docker container: 
   
    ```docker
-    docker run -it --rm -p 10000:10000 -p 5005:5005 unity-robotics:pick-and-place
+    docker run -it --rm -p 10000:10000 -p 5005:5005 unity-robotics:pick-and-place /bin/bash
-
-1. Source your ROS workspace:
-
-    ```bash
-    source devel/setup.bash
-    ```

 The ROS workspace is now ready to accept commands!

--- a/tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/ProjectSettings.asset
+++ b/tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/ProjectSettings.asset
  scriptingRuntimeVersion: 1
  gcIncremental: 1
  gcWBarrierValidation: 0
-  apiCompatibilityLevelPerPlatform: {}
+  apiCompatibilityLevelPerPlatform:
+    Standalone: 3
  m_RenderingPath: 1
  m_MobileRenderingPath: 1
  metroPackageName: Template_3D
--- a/tutorials/pick_and_place/README.md
+++ b/tutorials/pick_and_place/README.md

 This tutorial is designed such that you do not need prior experience with Unity or C# in order to follow the scene setup steps, and you do not need prior robotics experience to get started with ROS integration. The tutorial is divided into high-level phases, from basic Unity and ROS initial setup through executing a pick-and-place task.

+**Want to skip the tutorial and run the full demo? Check out our [Quick Demo](quick_demo.md)**
+
-**Table of Contents**
+### Pick-and-Place Tutorial
-  
---

 ## Requirements

  ```

---
-
 ## [Part 0: ROS Setup](0_ros_setup.md)

 <img src="img/0_docker.png" width="400"/>
---
-
 ## [Part 1: Create Unity scene with imported URDF](1_urdf.md) 

 <img src="img/1_end.gif" width="400"/>
---
-
-
---

 ## [Part 3: Pick-and-Place](3_pick_and_place.md)
 
--- a/tutorials/pick_and_place/Scripts/SourceDestinationPublisher.cs
+++ b/tutorials/pick_and_place/Scripts/SourceDestinationPublisher.cs
    /// <summary>
    /// 
    /// </summary>
-    void Awake()
+    void Start()
    {
        // Get ROS connection static instance
        ros = ROSConnection.instance;
--- a/tutorials/pick_and_place/Scripts/TrajectoryPlanner.cs
+++ b/tutorials/pick_and_place/Scripts/TrajectoryPlanner.cs
    ///     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 Awake()
+    void Start()
    {
        // Get ROS connection static instance
        ros = ROSConnection.instance;
--- a/tutorials/pick_and_place/docker/Dockerfile
+++ b/tutorials/pick_and_place/docker/Dockerfile
 COPY ./ROS/src/ros_tcp_endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint

 COPY ./docker/set-up-workspace /setup.sh
+COPY docker/tutorial /
-RUN dos2unix /setup.sh && chmod +x /setup.sh && /setup.sh && rm /setup.sh
+RUN dos2unix /tutorial /setup.sh && chmod +x /setup.sh && /setup.sh && rm /setup.sh
-ENTRYPOINT ["/bin/bash"]
+ENTRYPOINT ["/tutorial"]
--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/Scenes/DemoScene.unity
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/Scenes/DemoScene.unity
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!29 &1
+OcclusionCullingSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_OcclusionBakeSettings:
+    smallestOccluder: 5
+    smallestHole: 0.25
+    backfaceThreshold: 100
+  m_SceneGUID: 00000000000000000000000000000000
+  m_OcclusionCullingData: {fileID: 0}
+--- !u!104 &2
+RenderSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 9
+  m_Fog: 0
+  m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1}
+  m_FogMode: 3
+  m_FogDensity: 0.01
+  m_LinearFogStart: 0
+  m_LinearFogEnd: 300
+  m_AmbientSkyColor: {r: 0.212, g: 0.227, b: 0.259, a: 1}
+  m_AmbientEquatorColor: {r: 0.114, g: 0.125, b: 0.133, a: 1}
+  m_AmbientGroundColor: {r: 0.047, g: 0.043, b: 0.035, a: 1}
+  m_AmbientIntensity: 1
+  m_AmbientMode: 0
+  m_SubtractiveShadowColor: {r: 0.42, g: 0.478, b: 0.627, a: 1}
+  m_SkyboxMaterial: {fileID: 10304, guid: 0000000000000000f000000000000000, type: 0}
+  m_HaloStrength: 0.5
+  m_FlareStrength: 1
+  m_FlareFadeSpeed: 3
+  m_HaloTexture: {fileID: 0}
+  m_SpotCookie: {fileID: 10001, guid: 0000000000000000e000000000000000, type: 0}
+  m_DefaultReflectionMode: 0
+  m_DefaultReflectionResolution: 128
+  m_ReflectionBounces: 1
+  m_ReflectionIntensity: 1
+  m_CustomReflection: {fileID: 0}
+  m_Sun: {fileID: 0}
+  m_IndirectSpecularColor: {r: 0, g: 0, b: 0, a: 1}
+  m_UseRadianceAmbientProbe: 0
+--- !u!157 &3
+LightmapSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 12
+  m_GIWorkflowMode: 1
+  m_GISettings:
+    serializedVersion: 2
+    m_BounceScale: 1
+    m_IndirectOutputScale: 1
+    m_AlbedoBoost: 1
+    m_EnvironmentLightingMode: 0
+    m_EnableBakedLightmaps: 1
+    m_EnableRealtimeLightmaps: 0
+  m_LightmapEditorSettings:
+    serializedVersion: 12
+    m_Resolution: 2
+    m_BakeResolution: 40
+    m_AtlasSize: 1024
+    m_AO: 0
+    m_AOMaxDistance: 1
+    m_CompAOExponent: 1
+    m_CompAOExponentDirect: 0
+    m_ExtractAmbientOcclusion: 0
+    m_Padding: 2
+    m_LightmapParameters: {fileID: 0}
+    m_LightmapsBakeMode: 1
+    m_TextureCompression: 1
+    m_FinalGather: 0
+    m_FinalGatherFiltering: 1
+    m_FinalGatherRayCount: 256
+    m_ReflectionCompression: 2
+    m_MixedBakeMode: 2
+    m_BakeBackend: 1
+    m_PVRSampling: 1
+    m_PVRDirectSampleCount: 32
+    m_PVRSampleCount: 512
+    m_PVRBounces: 2
+    m_PVREnvironmentSampleCount: 256
+    m_PVREnvironmentReferencePointCount: 2048
+    m_PVRFilteringMode: 1
+    m_PVRDenoiserTypeDirect: 1
+    m_PVRDenoiserTypeIndirect: 1
+    m_PVRDenoiserTypeAO: 1
+    m_PVRFilterTypeDirect: 0
+    m_PVRFilterTypeIndirect: 0
+    m_PVRFilterTypeAO: 0
+    m_PVREnvironmentMIS: 1
+    m_PVRCulling: 1
+    m_PVRFilteringGaussRadiusDirect: 1
+    m_PVRFilteringGaussRadiusIndirect: 5
+    m_PVRFilteringGaussRadiusAO: 2
+    m_PVRFilteringAtrousPositionSigmaDirect: 0.5
+    m_PVRFilteringAtrousPositionSigmaIndirect: 2
+    m_PVRFilteringAtrousPositionSigmaAO: 1
+    m_ExportTrainingData: 0
+    m_TrainingDataDestination: TrainingData
+    m_LightProbeSampleCountMultiplier: 4
+  m_LightingDataAsset: {fileID: 0}
+  m_LightingSettings: {fileID: 0}
+--- !u!196 &4
+NavMeshSettings:
+  serializedVersion: 2
+  m_ObjectHideFlags: 0
+  m_BuildSettings:
+    serializedVersion: 2
+    agentTypeID: 0
+    agentRadius: 0.5
+    agentHeight: 2
+    agentSlope: 45
+    agentClimb: 0.4
+    ledgeDropHeight: 0
+    maxJumpAcrossDistance: 0
+    minRegionArea: 2
+    manualCellSize: 0
+    cellSize: 0.16666667
+    manualTileSize: 0
+    tileSize: 256
+    accuratePlacement: 0
+    maxJobWorkers: 0
+    preserveTilesOutsideBounds: 0
+    debug:
+      m_Flags: 0
+  m_NavMeshData: {fileID: 0}
+--- !u!1 &740283001
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 740283003}
+  - component: {fileID: 740283002}
+  m_Layer: 0
+  m_Name: Directional Light
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!108 &740283002
+Light:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 740283001}
+  m_Enabled: 1
+  serializedVersion: 10
+  m_Type: 1
+  m_Shape: 0
+  m_Color: {r: 1, g: 0.95686275, b: 0.8392157, a: 1}
+  m_Intensity: 1
+  m_Range: 10
+  m_SpotAngle: 30
+  m_InnerSpotAngle: 21.80208
+  m_CookieSize: 10
+  m_Shadows:
+    m_Type: 2
+    m_Resolution: -1
+    m_CustomResolution: -1
+    m_Strength: 1
+    m_Bias: 0.05
+    m_NormalBias: 0.4
+    m_NearPlane: 0.2
+    m_CullingMatrixOverride:
+      e00: 1
+      e01: 0
+      e02: 0
+      e03: 0
+      e10: 0
+      e11: 1
+      e12: 0
+      e13: 0
+      e20: 0
+      e21: 0
+      e22: 1
+      e23: 0
+      e30: 0
+      e31: 0
+      e32: 0
+      e33: 1
+    m_UseCullingMatrixOverride: 0
+  m_Cookie: {fileID: 0}
+  m_DrawHalo: 0
+  m_Flare: {fileID: 0}
+  m_RenderMode: 0
+  m_CullingMask:
+    serializedVersion: 2
+    m_Bits: 4294967295
+  m_RenderingLayerMask: 1
+  m_Lightmapping: 4
+  m_LightShadowCasterMode: 0
+  m_AreaSize: {x: 1, y: 1}
+  m_BounceIntensity: 1
+  m_ColorTemperature: 6570
+  m_UseColorTemperature: 0
+  m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0}
+  m_UseBoundingSphereOverride: 0
+  m_UseViewFrustumForShadowCasterCull: 1
+  m_ShadowRadius: 0
+  m_ShadowAngle: 0
+--- !u!4 &740283003
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 740283001}
+  m_LocalRotation: {x: 0.40821788, y: -0.23456968, z: 0.10938163, w: 0.8754261}
+  m_LocalPosition: {x: 0, y: 3, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 1
+  m_LocalEulerAnglesHint: {x: 50, y: -30, z: 0}
+--- !u!1 &1442615935
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1442615937}
+  - component: {fileID: 1442615936}
+  m_Layer: 0
+  m_Name: Demo
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!114 &1442615936
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1442615935}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 985aa258640044abeb31b39efba08ea3, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+--- !u!4 &1442615937
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1442615935}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0.86, z: 0.108267225}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 2
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &2131306806
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 2131306809}
+  - component: {fileID: 2131306808}
+  - component: {fileID: 2131306807}
+  m_Layer: 0
+  m_Name: Main Camera
+  m_TagString: MainCamera
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!81 &2131306807
+AudioListener:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2131306806}
+  m_Enabled: 1
+--- !u!20 &2131306808
+Camera:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2131306806}
+  m_Enabled: 1
+  serializedVersion: 2
+  m_ClearFlags: 1
+  m_BackGroundColor: {r: 0.19215687, g: 0.3019608, b: 0.4745098, a: 0}
+  m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
+  m_SensorSize: {x: 36, y: 24}
+  m_LensShift: {x: 0, y: 0}
+  m_FocalLength: 50
+  m_NormalizedViewPortRect:
+    serializedVersion: 2
+    x: 0
+    y: 0
+    width: 1
+    height: 1
+  near clip plane: 0.3
+  far clip plane: 1000
+  field of view: 60
+  orthographic: 0
+  orthographic size: 5
+  m_Depth: -1
+  m_CullingMask:
+    serializedVersion: 2
+    m_Bits: 4294967295
+  m_RenderingPath: -1
+  m_TargetTexture: {fileID: 0}
+  m_TargetDisplay: 0
+  m_TargetEye: 3
+  m_HDR: 1
+  m_AllowMSAA: 1
+  m_AllowDynamicResolution: 0
+  m_ForceIntoRT: 0
+  m_OcclusionCulling: 1
+  m_StereoConvergence: 10
+  m_StereoSeparation: 0.022
+--- !u!4 &2131306809
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2131306806}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 1, z: -10}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/Scenes/DemoScene.unity.meta
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/Scenes/DemoScene.unity.meta
+fileFormatVersion: 2
+guid: b51a2f002143e4b29a388f9213209978
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts.meta
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts.meta
+fileFormatVersion: 2
+guid: 2de28984775bd450da317306900054b2
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/tutorials/pick_and_place/docker/tutorial
+++ b/tutorials/pick_and_place/docker/tutorial
+#!/bin/bash
+source $ROS_WORKSPACE/devel/setup.bash
+echo "ROS_IP: $(hostname -i)" > $ROS_WORKSPACE/src/niryo_moveit/config/params.yaml
+
+exec "$@"
--- a/tutorials/pick_and_place/quick_demo.md
+++ b/tutorials/pick_and_place/quick_demo.md
+# Pick-and-Place Tutorial: Quick Demo
+
+This part uses scripts to automatically set up and run the Niryo One pick-and-place demo in the Unity Editor.
+
+**Table of Contents**
+  - [Prerequisites](#prerequisites)
+  - [Start ROS](#start-ros)
+  - [Start Demo](#start-demo)
+
+## Prerequisites
+
+1. Clone this repo to a location on your local machine:
+    ```bash
+    git clone --recurse-submodules https://github.com/Unity-Technologies/Unity-Robotics-Hub.git
+    ```
+
+1. Install [Docker Engine](https://docs.docker.com/engine/install/)
+
+1. Install [Unity Hub](https://unity3d.com/get-unity/download).
+
+1. Go to the [Unity 2020.2 Beta website](https://unity3d.com/unity/beta/2020.2.0b9) to install this project's version of Unity: **2020.2.0b9**. 
+
+## Start ROS
+
+1. Follow the [Option A: Use Docker](0_ros_setup.md#option-a-use-docker) to start a new ROS docker container
+
+2. Run the following command to start ROS services
+
+    ```bash
+    roslaunch niryo_moveit part_3.launch
+    ```
+
+
+## Start Demo
+
+1. Open Unity Hub and click the "Add" button in the top right of the "Projects" tab on Unity Hub, and navigate to and select the PickAndPlaceProject directory (`./Unity-Robotics-Hub/tutorials/pick_and_place/PickAndPlaceProject/`) to add the tutorial project to your Hub.
+
+   ![](img/hub_addproject.png)
+
+1. Click the newly added project to open it.
+
+1. Look for the `DemoScene` in the Project browser in the Assets/Scenes directory, and double-click to open it.
+
+1. Click the `Play` button to watch the full demo.
+	> Note: the planning process will take about ten seconds before the Niryo One starts to move 
+
+    > Note: several game objects will be created in the Hierarchy window at runtime
+	>
+	> * **Table**: the table where the robot stands on; instantiated from the Table prefab
+	> * **Target**: the cube that the robot is going to pick up; instantiated from the Target prefab
+	> * **TargetPlacement**: the area that the target cube will be placed; instantiation of the TargetPlacement prefab
+	> * **niryo_one**: the Niryo One robot imported from URDF
+	> * **ROSConnect**: the object that operates ROS communication
+	> * **Publisher**: the object that publish joint configurations to the ROS network for planning 
+	
+    > Note: the configurations of ROS communication can be found in the Inspector window of ROSConnect object
+	>
+	> * Joint configurations are published to ROS nodes running in the Docker container (127.0.0.1:10000)
+	> * ROS nodes in the Docker container will be notified that Unity's IP address is 127.0.0.1:5005
+	
+### If you'd now like to follow the full tutorial to learn how to build the pick-and-place simulation from scratch, proceed to [Part 1](1_urdf.md).
--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/Demo.cs
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/Demo.cs
+#if UNITY_EDITOR
+using Microsoft.CSharp;
+using RosMessageGeneration;
+using RosSharp;
+using RosSharp.Control;
+using RosSharp.Urdf.Editor;
+using System;
+using System.CodeDom.Compiler;
+using System.Collections.Generic;
+using System.IO;
+using System.Reflection;
+using System.Text;
+using UnityEditor;
+using UnityEngine;
+
+public class Demo : MonoBehaviour
+{
+    public string hostIP = "127.0.0.1";
+    public string overrideUnityIP = "127.0.0.1";
+
+    public bool generateRosMessages = true;
+    public bool deleteRosMessagesAfterSimulation = true;
+
+    string prefabDirectory = "Assets/Prefabs";
+    string prefabSuffix = ".prefab";
+
+    string tableName = "Table";
+    string targetName = "Target";
+    string targetPlacementName = "TargetPlacement";
+
+    string cameraName = "Main Camera";
+    Vector3 cameraPosition = new Vector3(0, 1.4f, -0.7f);
+    Quaternion cameraRotation = Quaternion.Euler(new Vector3(45, 0, 0));
+
+    string urdfRelativeFilepath = "URDF/niryo_one/niryo_one.urdf";
+
+    string niryoOneName = "niryo_one";
+    string baseLinkName = "base_link";
+    float controllerStiffness = 10000;
+    float controllerDamping = 100;
+    float controllerForceLimit = 1000;
+    float controllerSpeed = 30;
+    float controllerAcceleration = 10;
+
+    string rosMessagesDirectory = "Assets/RosMessages";
+    string rosSrcDirectory = "../ROS/src";
+    string msgDirectory = "msg";
+    string srvDirectory = "srv";
+    string moveitMsgPackageName = "moveit_msgs";
+    string niryoMoveitPackageName = "niryo_moveit";
+    string robotTrajectoryMessageFileName = "RobotTrajectory.msg";
+    string moverServiceFileName = "MoverService.srv";
+    string scriptPattern = "*.cs";
+
+    string externalScriptsDirectory = "../Scripts";
+    string scriptsDirectory = "Assets/Scripts";
+
+    string rosConnectName = "ROSConnect";
+    string publisherName = "Publisher";
+    int hostPort = 10000;
+    int unityPort = 5005;
+    int awaitDataMaxRetries = 10;
+    int awaitDataSleepSeconds = 1;
+
+    string trajectoryPlannerType = "TrajectoryPlanner";
+    string rosServiceName = "niryo_moveit";
+
+    bool hasPublished = false;
+
+    Assembly assembly;
+    ROSConnection rosConnection;
+
+    void Awake()
+    {
+        EditorApplication.LockReloadAssemblies();
+        SetupScene();
+        SetupRos();
+        CreateTrajectoryPlannerPubliser();
+    }
+
+    void Update()
+    {
+        // Make sure to publish only once in the demo
+        if (!hasPublished)
+        {
+            dynamic publisher = GameObject.Find(publisherName).GetComponent(assembly.GetType(trajectoryPlannerType));
+            publisher.PublishJoints();
+            hasPublished = true;
+        }
+    }
+
+    void OnApplicationQuit()
+    {
+        if (deleteRosMessagesAfterSimulation)
+        {
+            Directory.Delete(rosMessagesDirectory, recursive: true);
+            File.Delete($"{rosMessagesDirectory}.meta");
+        }
+        EditorApplication.UnlockReloadAssemblies();
+    }
+
+    // Tutorial Part 1
+    private void SetupScene()
+    {
+        // Instantiate the table, target, and target placement
+        GameObject table = InstantiatePrefab(tableName);
+        GameObject target = InstantiatePrefab(targetName);
+        GameObject targetPlacement = InstantiatePrefab(targetPlacementName);
+
+        // Adjust main camera
+        GameObject camera = GameObject.Find(cameraName);
+        camera.transform.position = cameraPosition;
+        camera.transform.rotation = cameraRotation;
+
+        // Import Niryo One with URDF importer
+        string urdfFilepath = Path.Combine(Application.dataPath, urdfRelativeFilepath);
+        ImportRobot(urdfFilepath, ImportSettings.convexDecomposer.unity);
+
+        // Adjust robot parameters
+        Controller controller = GameObject.Find(niryoOneName).GetComponent<Controller>();
+        controller.stiffness = controllerStiffness;
+        controller.damping = controllerDamping;
+        controller.forceLimit = controllerForceLimit;
+        controller.speed = controllerSpeed;
+        controller.acceleration = controllerAcceleration;
+        GameObject.Find(baseLinkName).GetComponent<ArticulationBody>().immovable = true;
+    }
+
+    // Tutorial Part 2 without the Publisher object
+    private void SetupRos()
+    {
+        if (generateRosMessages)
+        {
+            // Generate ROS messages
+            MessageAutoGen.GenerateSingleMessage(
+                Path.Combine(rosSrcDirectory, moveitMsgPackageName, msgDirectory, robotTrajectoryMessageFileName),
+                rosMessagesDirectory, moveitMsgPackageName);
+
+            MessageAutoGen.GenerateDirectoryMessages(
+                Path.Combine(rosSrcDirectory, niryoMoveitPackageName, msgDirectory),
+                rosMessagesDirectory);
+
+            // Generate ROS services
+            ServiceAutoGen.GenerateSingleService(
+                Path.Combine(rosSrcDirectory, niryoMoveitPackageName, srvDirectory, moverServiceFileName),
+                rosMessagesDirectory, niryoMoveitPackageName);
+        }
+
+        // Recompile ROS message scripts and external scripts
+        List<string> scripts = new List<string>();
+        scripts.AddRange(Directory.GetFiles(rosMessagesDirectory, scriptPattern, SearchOption.AllDirectories));
+        scripts.AddRange(Directory.GetFiles(externalScriptsDirectory));
+        RecompileScripts(scripts.ToArray());
+        
+        // Create RosConnect
+        GameObject rosConnect = new GameObject(rosConnectName);
+        rosConnection = rosConnect.AddComponent<ROSConnection>();
+        rosConnection.rosIPAddress = hostIP;
+        rosConnection.rosPort = hostPort;
+        rosConnection.overrideUnityIP = overrideUnityIP;
+        rosConnection.unityPort = unityPort;
+        rosConnection.awaitDataMaxRetries = awaitDataMaxRetries;
+        rosConnection.awaitDataSleepSeconds = awaitDataSleepSeconds;
+    }
+
+    private void CreateTrajectoryPlannerPubliser()
+    {
+        GameObject publisher = new GameObject(publisherName);
+        dynamic planner = publisher.AddComponent(assembly.GetType(trajectoryPlannerType));
+        planner.rosServiceName = rosServiceName;
+        planner.niryoOne = GameObject.Find(niryoOneName);
+        planner.target = GameObject.Find(targetName);
+        planner.targetPlacement = GameObject.Find(targetPlacementName);
+    }
+
+    private GameObject InstantiatePrefab(string name)
+    {
+        string filepath = Path.Combine(prefabDirectory, $"{name}{prefabSuffix}");
+        GameObject gameObject = Instantiate(AssetDatabase.LoadAssetAtPath<GameObject>(filepath));
+        gameObject.name = name;
+        return gameObject;
+    }
+
+    private void ImportRobot(string urdfFilepath, ImportSettings.convexDecomposer convexDecomposer)
+    {
+        // Import Niryo One by URDF Importer
+        ImportSettings settings = new ImportSettings
+        {
+            choosenAxis = ImportSettings.axisType.yAxis,
+            convexMethod = convexDecomposer,
+        };
+        UrdfRobotExtensions.Create(urdfFilepath, settings);
+    }
+
+    // Credit to https://www.codeproject.com/Tips/715891/Compiling-Csharp-Code-at-Runtime
+    // and https://gamedev.stackexchange.com/questions/130268/how-do-i-compile-a-c-script-at-runtime-and-attach-it-as-a-component-to-a-game-o
+    private void RecompileScripts(string[] filepaths)
+    {
+        CSharpCodeProvider provider = new CSharpCodeProvider();
+        CompilerParameters parameters = new CompilerParameters();
+        foreach (Assembly unityAssembly in AppDomain.CurrentDomain.GetAssemblies())
+        {
+            parameters.ReferencedAssemblies.Add(unityAssembly.Location);
+        }
+        parameters.GenerateInMemory = true;
+        parameters.GenerateExecutable = false;
+
+        string[] texts = new string[filepaths.Length];
+        for (int i = 0; i < filepaths.Length; i ++)
+        {
+            texts[i] = File.ReadAllText(filepaths[i]); 
+        }
+        CompilerResults results = provider.CompileAssemblyFromSource(parameters, texts);
+        checkCompileErrors(results);
+
+        // Update the assembly
+        assembly = results.CompiledAssembly;
+    }
+
+    private void checkCompileErrors(CompilerResults results)
+    {
+        if (results.Errors.HasErrors)
+        {
+            StringBuilder stringBuilder = new StringBuilder();
+            foreach (CompilerError error in results.Errors)
+            {
+                stringBuilder.AppendLine($"Error {error.ErrorNumber} {error.ErrorText}");
+            }
+            throw new InvalidOperationException(stringBuilder.ToString());
+        }
+    }
+}
+#endif
--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/Demo.cs.meta
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/Demo.cs.meta
+fileFormatVersion: 2
+guid: 985aa258640044abeb31b39efba08ea3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: