Unity-Robotics-Hub/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
• Start ROS
• Start Demo

Prerequisites

1. Clone this repo to a location on your local machine:

   git clone --recurse-submodules https://github.com/Unity-Technologies/Unity-Robotics-Hub.git
   

2. Install Docker Engine

3. Install Unity Hub.

4. Go to the Unity 2020.2 Beta website to install this project's version of Unity: 2020.2.0b9.

Start ROS

1. Follow the Option A: Use Docker to start a new ROS docker container

2. Run the following command to start ROS services

   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.

   

2. Click the newly added project to open it.

3. Look for the DemoScene in the Project browser in the Assets/Scenes directory, and double-click to open it.

4. 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.