Aspect

Gazebo

Unity

Model import

URDF/Xacro in ROS workspace

URDF Importer in Unity

Joint execution

ROS controllers and PID parameters

Articulation Body drive targets

Motion generation

Online MoveIt!/OMPL planning

Predefined interpolated C# targets

Object transport

gazebo_grasp_fix attachment

Trigger detection and parenting

Online planner in prototype

Present

Not present

Scene-level scripted interaction

Not implemented

Implemented