In the first project, I created 2 chemical lab scenes, with fixed and mobile UR arms. The UR robots perform pre-defined sequential animations, including various operations involved in chemical experiments.

Inverse kinematics (IK) of UR robot was implemented by adapting and modifying existing C++ solution to C# script so that it could work with Unity. Animations were realized procedurally in real-time by driving the IK target. An animation manager was designed in a way that one can easily redefine and reorder the animation sequence.

In the second project, UR robot is imported from an URDF (Unified Robot Description Format) file. Instead of being driven by IK, the robot is driven by the messages sent from ROS. This project allows for visualizing the movement of a physical UR arm.