This is a moveit! plugin which sends the trajectory to Unity using https://github.com/Unity-Technologies/Unity-Robotics-Hub which is a library developed to support accurate robotics simulation for Unity. The package should be configured as a moveit_controller_manager. The package simply publishes the calculated trajectory to a custom topic which is read by the Unity TCP server designed (also part of this package)
Simply checkout this package
git clone [email protected]:szandara/unity_moveit_manager.git in your catkin workspace and build it.
A working example of the working solution can be found in https://github.com/szandara/unity_reachy_tutorial which is part of the tutorial https://dev.to/szandara/robotics-on-wsl2-using-ros-docker-and-unity-3d-part-i-3752