Build a Robot Pick-and-Place Simulation with SimReady Assets

This walkthrough shows how to assemble a UR17G arm, Robotiq 2F-140 gripper, and beverage can from SimReady Central in Isaac Sim 6.2, then use an agent to generate and run a pick-and-place task. It explains SimReady profiles, features, and requirements, and lists checks for joint settings, movement, and contact before running the grasp, lift, transfer, and release sequence. The example uses a scripted horizontal grasp with a 2 N·m drive-effort cap and fixed waypoints, and the authors note the results do not establish robustness to uncertain object positions, different payloads, or real hardware.