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How to set correct position for roatation kinematic on axis
While trying to setup the demo robot I have found that you must manually place the drive in the dead centre of the axis for the point of rotation although it seems extremely hard and inefficient to have to manually set this and try get right?
Is there any methods or tools to use to get the point of rotation in the dead centre, I will put some photos to try visualise
what I mean
Handing over MU between two grippers
Hi,
how to solve the following problem in handing over situations:
- gripper 1 grips MU. MU is now attached to gripper 1
- some transfering is done
- gripper 2 grips MU. MU is gripped by gripper 1 and gripper 2. MU is now attached to gripper 2
If gripper 2 opens now, the MU is no longer attached to gripper 2 and falls down.
What I want to achieve is:
Gripper 1 is still closed and the MU should now be attached to gripper 1 again.
How can I solve this?
Drag and drop MUs by mouse navigation in game mode
Hello,
is there a easy way or can somebody provide suggestions how to move MUs in game mode with mouse navigation same as possible in scene view?
plugin disappeared.
I purchased and installed the realvirtual.io plugin in Unity. Initially, everything worked fine, but after a few days, when I restarted Unity, all content related to realvirtual.io reported errors, and the toolbar options related to the plugin disappeared.
S7PLCSIM Advance connection problem
Hello Sir,
Currently I have added the PLC Advance interface to my project. Also successfully to run the PLCSim advancedCoupler.exe. But after that, it shows that PLCSIMAdvance runtime not available. Can you please help on this
realvirtual.io Digital Twin Assistant update
Hi, thomos, please update assistant when i try to fix some problems its not using recent knowdge.
thanks
combining MUs
Hello,
is there a way to combine two or more MUs ?
for example: MU1 (main part) is on a transport surface. At some point it stops and MU2 (smaller part) should be fixed onto MU1. They continue moving on transport surface together without falling apart. I tried to do this by attaching the fixer script to MU1 and unset the gravity of MU2. But with the fixer script MU1 is not moving anymore.
best regards
Carsten
Bug in Sensor (Script) when disabling display status
Hi Thomas,
there seems to be a bug in Sensor (Script).
If I disable "Display Status" I see a purple graphical error only in game mode.
I tested this in "DemoGripping" version 2022.13.
S7 Connection with TIA V19
Hi team please update S7 Connection Tutorial in youtube with new TIA19 and if possible update on PLCSIMAdvance v6 too
Unity Physics and Kinematics
I've been using realvirtual.io for a week. But I'm struggling with kinematics links modeling.
As I see in your documentation, you are using either parenting or dynamics on game objects.
The thing is, for certain kinematics chains, neither technique worked...
There is futher example of mechanism i need to model :
There is a way to model complex kinematics chains (Without using mass and force)?
Hi Michael,
There are several approaches you can take to achieve this:
- Position Control via End Element: You can manage the positioning by moving only the endpoint. Although this endpoint is not a real drive, you can connect it to the actual drive using Unity Physics joints. This setup ensures precise endpoint control. While the joints in between might exhibit some shaking, this should not affect the overall functionality.
- Integrated Drives with Gears or CAMS: Another method involves equipping all joints with drives and synchronizing them through the use of gears or CAMs. This setup mimics the movement based on a "Master" Drive, which aligns with the position of the actual drive. For more details, you might find these resources helpful:
- Defining CAMs: Defining CAMs Documentation
- Drive Behavior: Drive Behavior Documentation
- Using Unity Physics for Kinematics: Employ Unity Physics and Unity Joints (details at Unity Joints Documentation) to handle forward kinematics. In cases requiring purely linear movements, consider using Articulation Bodies (Articulation Body Documentation). Be aware that Unity Physics can be somewhat unstable or jittery, which can be mitigated by reducing the Physics fixed timestep at the cost of performance.
For complex scenarios not involving parallel kinematics, which are typically challenging and unstable with Unity Physics, you might explore using AGX from Algoryx (see https://doc.realvirtual.io/extensions/agx-physics9. This is a more robust solution for accurately simulating complex physics interactions, although it is not free and the definition of kinematics is on my point of view more complicated).
In general, whenever feasible, we prefer to resolve these issues using non-physical forward kinematics, whether it’s a straightforward kinematic chain of a robot or something that can be easily managed with defined cams or gears.
I hope this helps! Let me know if you need further assistance.
Best,
Thomas
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