I customised ERPNext V15 POS so that it fits my requirement. Just sharing the git repo if it helps others.
Customisations
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Can Scan Weight embedded barcodes in grams (item stock_uom: Kg)
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Support PLU Code and Price Sync for Items in weighing scale (export PLU.txt containing item plu, price etc.. into sites/public. from here you need to find a way to link the file to Weighing Scales software folder)
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Scan items first and then enter the customer details. In normal retail stores, items are scanned first and then only the staff asks for customers name or number.
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does not load all the items for returning. When a customer has bought 20 items and want to return a single item, it is waste of time to remove each item one by one and then submit the single return item. Instead, the return cart will be empty until staff scan the item they want to return and save time.
The customisations are not plug and play yet. You might need a developer who can understand and modify to your need. If there is demand, I will package it and publish in marketplace for free.