Unity Robot Arm Simulation

I need a working robot-arm pick-and-place simulation built in Unity (2021 LTS or later). I will supply the CAD files for the arm, gripper, and parts to be manipulated; you simply import, rig, and animate them.

Scope
• Implement continuous motion paths so the arm can follow smooth trajectories between waypoints rather than start-stop moves.
• Map those motions to basic keyboard controls (e.g., pick, place, home, emergency stop).
• Build a highly detailed scene: realistic PBR materials for the arm and parts, HDRP or URP lighting with shadows, and a few surrounding props and obstacles so the workspace feels believable.
• Configure simple physics for collision detection and object grasp/release.
• Deliver a Unity project that runs in Play Mode, plus a short video or GIF demo showing the keyboard workflow.

I’m happy to answer technical questions and provide any additional reference drawings you need. Once I can move the arm smoothly, pick an object, and set it down in the target zone without clipping or jitter, the job is done.