1：When using the trigonometric solution, was the DH parameter table used to unify and simplify the relative pose relationships between the joints and links of the robotic arm, serving as an auxiliary tool? Or was it purely a trigonometric solution without the DH parameter table?

2：Can I understand it as using a geometric solution, specifically applying trigonometric methods to calculate and handle the relationships between joints and determine the joint angles?

3：I'm using version 2021.05, and I'd like to achieve real-time IK motion for the robotic arm by directly dragging the TCP in play mode, just like in edit mode, where dragging the TCP instantly moves the entire robotic arm via IK. I don't want to drag the TCP to a position and then click "Drive to Target" to initiate the movement

4：Could you share the source code of the IKCalculator.dll file?

这里使用什么 IK 方法？DH 方法还是其他方法？

Ask how to achieve a real-time digital twin of a real stacker and which component can change the real-time PLC position of the stacker in real time.

25.10.2024_14.03.46_REC.mp4

D:\soft\2021.3.18f1c1\Editor\Data\il2cpp\build\deploy\il2cpp.exe @Library\Bee\artifacts\rsp\10185664654020197962.rsp

Error: IL2CPP error (no further information about what managed code was being converted is available)

System.AggregateException: One or more errors occurred. (The given key 'nop' was not present in the dictionary.)

---> System.Collections.Generic.KeyNotFoundException: The given key 'nop' was not present in the dictionary.

at System.Collections.Generic.Dictionary`2.get_Item(TKey key)

at Unity.IL2CPP.DataModel.Instruction..ctor(Instruction instruction)

at Unity.IL2CPP.DataModel.BuildLogic.Populaters.MethodBodyPopulator.CreateInstructions(CecilSourcedAssemblyData assemblyDef, MethodDefinition method, MethodDefinition source, ReadOnlyCollection`1 variables, Dictionary`2& instructionMap)

at Unity.IL2CPP.DataModel.BuildLogic.Populaters.MethodBodyPopulator.PopulateMethodBody(CecilSourcedAssemblyData assemblyData, MethodDefinition method, MethodDefinition source)

at Unity.IL2CPP.DataModel.BuildLogic.Populaters.DefinitionPopulater.PopulateMethodDefs(CecilSourcedAssemblyData assemblyData, TypeDefinition typeDef)

at Unity.IL2CPP.DataModel.BuildLogic.Populaters.DefinitionPopulater.PopulateTypeDef(TypeContext context, UnderConstructionMember`2 type)

at Unity.IL2CPP.DataModel.BuildLogic.DataModelBuilder.b__13_1(UnderConstructionMember`2 typeDef)

at System.Threading.Tasks.Parallel.<>c__DisplayClass44_0`2.b__1(IEnumerator& partitionState, Int32 timeout, Boolean& replicationDelegateYieldedBeforeCompletion)

--- End of stack trace from previous location ---

at System.Threading.Tasks.Parallel.<>c__DisplayClass44_0`2.b__1(IEnumerator& partitionState, Int32 timeout, Boolean& replicationDelegateYieldedBeforeCompletion)

at System.Threading.Tasks.TaskReplicator.Replica`1.ExecuteAction(Boolean& yieldedBeforeCompletion)

at System.Threading.Tasks.TaskReplicator.Replica.Execute()

--- End of inner exception stack trace ---

at System.Threading.Tasks.TaskReplicator.Run[TState](ReplicatableUserAction`1 action, ParallelOptions options, Boolean stopOnFirstFailure)

at System.Threading.Tasks.Parallel.PartitionerForEachWorker[TSource,TLocal](Partitioner`1 source, ParallelOptions parallelOptions, Action`1 simpleBody, Action`2 bodyWithState, Action`3 bodyWithStateAndIndex, Func`4 bodyWithStateAndLocal, Func`5 bodyWithEverything, Func`1 localInit, Action`1 localFinally)

--- End of stack trace from previous location ---

at System.Threading.Tasks.Parallel.ThrowSingleCancellationExceptionOrOtherException(ICollection exceptions, CancellationToken cancelToken, Exception otherException)

at System.Threading.Tasks.Parallel.PartitionerForEachWorker[TSource,TLocal](Partitioner`1 source, ParallelOptions parallelOptions, Action`1 simpleBody, Action`2 bodyWithState, Action`3 bodyWithStateAndIndex, Func`4 bodyWithStateAndLocal, Func`5 bodyWithEverything, Func`1 localInit, Action`1 localFinally)

at System.Threading.Tasks.Parallel.ForEachWorker[TSource,TLocal](IEnumerable`1 source, ParallelOptions parallelOptions, Action`1 body, Action`2 bodyWithState, Action`3 bodyWithStateAndIndex, Func`4 bodyWithStateAndLocal, Func`5 bodyWithEverything, Func`1 localInit, Action`1 localFinally)

at System.Threading.Tasks.Parallel.ForEach[TSource](IEnumerable`1 source, Action`1 body)

at Unity.IL2CPP.DataModel.BuildLogic.Utils.ParallelHelpers.ForEach[TSource](IEnumerable`1 source, Action`1 func, Boolean enableSerial)

at Unity.IL2CPP.DataModel.BuildLogic.DataModelBuilder.PopulateCecilSourcedDefinitions(ReadOnlyCollection`1 assemblyData)

at Unity.IL2CPP.DataModel.BuildLogic.DataModelBuilder.Build()

at Unity.IL2CPP.Contexts.Components.DataModelComponent.Load(LoadSettings loadSettings, Boolean ownsTypeContext, Boolean ownsBuilder, DataModelBuilder& builder)

at Unity.IL2CPP.AssemblyConversion.Phases.InitializePhase.Run(AssemblyConversionContext context)

at Unity.IL2CPP.AssemblyConversion.Classic.ClassicConverter.Run(AssemblyConversionContext context)

at Unity.IL2CPP.AssemblyConversion.AssemblyConverter.ConvertAssemblies(AssemblyConversionInputData data, AssemblyConversionParameters parameters, AssemblyConversionInputDataForTopLevelAccess dataForTopLevel)

UnityEngine.GUIUtility:ProcessEvent (int,intptr,bool&)

Exception: IL2CPP error for method 'UnityEngine.Quaternion game4automation.IKCalculator::(UnityEngine.Quaternion)' in assembly 'D:\ZhangKang\IA_dev\Temp\StagingArea\Data\Managed\ikcalculator.dll'

System.NullReferenceException: Object reference not set to an instance of an object.

my unity version is 2020.3.33。 I've been dealing with this problem for too long and don't know what to do。please help me

您好，由于我更新  Professional 2022.15版本后报错，项目无法正常进行下去，并且unity包管理器里面没有历史版本下载2022.13，导致我无法进行工作，我已经给邮箱发送我的发票号但是没有收到关于Professional 2022.16 and Simulation 2022.16回复， 请您有空发送邮箱给我2022.13或2022.16的Professional和Simulation 的包。

十分感谢。