Using Realvirtual Release 2022.18 Build 5747

I'm trying to enable a drive while using AGX Physics for collisions.

This is the scene I'm using for testing. I'm trying to move the beam on top of the platform and have made colliders in AGX for both. Then I configured a prismatic constraint on the beam through AGX.

Then I followed the instructions of https://doc.realvirtual.io/extensions/agx-physics

I set the lock on of the constraint of the Rigid Body.

Then I configured the Drive. I put direction on Virtual. Then I added an Erratic Driver.

But when I run the beam doesn't move. Only when I disable the Rigid Body and put the Direction not on virtual the beam moves, but that means disabling AGX Physics. How can I make the beam move while still using AGX?

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?

Hello, is it possible to control chain with "Force Drive"? I need to prepare a device which transport load/MUs on shelves arranged in vertical chain. If there is some load on shelves and drive torque is 0, it will move/fall down according

to gravity. On the oder hand, chain is "balanced" if all shelves are empty and will not move even if torque on drive is 0. Is it possible to simulate such device?

这里使用什么 IK 方法？DH 方法还是其他方法？

Hello, I've been testing demo scene "MovingTransportSurface". As it is mentioned in the documentation "If the parent drive of the transport surface is rotating, the pivot points (centre of rotation) of both objects must be in the same position for the movement to be transmitted correctly". It is OK if you need to rotate around axle in the centre of transport surface. But I wondering if it is possible to rotate transport surface around axle which is not in the centre of transport surface. It looks like the pivot of the transport surface must be moved, but is it possible to do this?

Hi，Dear developer，

I want to get TwinCAT3 NC Axes information by TwinCAT ADS From ADS Server Port=501。

It make me quickly get NC Axes symbol From Port 501，do not use any PLC program codeing，it is a very useful Method to get Axis information

But now,I can't connect to Port 501，the port has the only right value which is PLC Project port，such as TC3=851 ，TC2=801

Please give me some ideas about how to get axes information FROM NC PORT 501，thanks

Hello,

I am trying out the Gripper.cs component and faced a problem with the variable 'grippedonclosing'

After gripping a MU this variable gets set but reset is missing. This leads to the problem that the gripper keeps closing only to the last grippedonclosing position even if no MU is available.

I added this one code line:

Best regards,

Andreas

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.

Hello everyone,

is the most recent version of realvirtual compatible with Unity 6?