![]() ![]() ![]() Use trapveltraj and transformtraj functions to generate simple task-space trajectories from an initial to a desired task configuration. After generating a joint trajectory for the robot to follow, the exampleCommandMoveToTaskConfigROSUnity function samples the trajectory at the desired sample rate, then packages it into joint-trajectory ROS messages, and sends a service request to Unity. Use the exampleCommandMoveToTaskConfigROSUnity command function to move the manipulator to specified poses. The exampleCommandActivateGripperROSUnitycommand function sends a service request to open and close the gripper implemented in Unity. Identify parts and determine where to place them.įor a high-level description of the pick-and-place steps, see Pick-and-Place Workflow Using Stateflow for MATLAB. The ROS TCP Connector package provides a tool you can use to build messages and services. You must build the ROS custom service definition files into C# scripts for use in Unity programming. ![]() Generate Unity Scripts for Custom Services For more information on publishing messages from Unity, see ROS–Unity Communication. JointStatePublisher.cs - Publishes the current joint configuration from Unity to the ROS network in MATLAB. MoveGripper.cs - Opens or closes the gripper fingers attached to the robot arm in Unity. ObjectPosition.cs - Sends the position of the box to be picked from the Unity scene to MATLAB. ![]() The script also unselects the Use Gravity option in all the links of the robot during simulation.įollowTrajectory.cs - Moves the robot model along a set of joint configurations provided by the trajectory from MATLAB. Unity then assigns these joint configuration values to the corresponding joints of the robot model. SetModelConfiguration.cs - Receives the robot joint configuration from MATLAB in Unity. ![]()
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