I am having difficulty with changing constraints on enter/exit of a transport surface. I get the following errors in runtime. 

NullReferenceException: Object reference not set to an instance of an object
realvirtual.TransportsurfaceCollider.OnCollisionEnter (UnityEngine.Collision other) (at Assets/realvirtual/TransportsurfaceCollider.cs:29)
UnityEngine.Physics:OnSceneContact(PhysicsScene, IntPtr, Int32)

NullReferenceException: Object reference not set to an instance of an object
realvirtual.TransportsurfaceCollider.OnCollisionExit (UnityEngine.Collision other) (at Assets/realvirtual/TransportsurfaceCollider.cs:41)
UnityEngine.Physics:OnSceneContact(PhysicsScene, IntPtr, Int32)

Now for the strange part, the transport surface IS correctly setting the constraint on enter (Freeze position x in my case), but this constraint does not get removed on exit. I do have "Change constraints on exit" set to true and "none" set for the constraints exit. In the "Loaded Part" list in the transport surface, there are no objects listed in runtime even though there are game objects on the transport surface. 

Has anyone else ran into this issue before? Seems weird that I am getting that error on enter, but the constraint is still getting set correctly. 

Hello,

I am currently working on a script that allows me to program linear movement (7th axis) for an IK robot between IKPaths. The script starts a drive destination after a Boolean is set or when a path has finished. After the linear movement, it either sets a signal or starts another path. Everything is working fine, but to check whether an IKPath has finished, I would like to use something like IKPath.PathIsFinished. However, this value does not seem to be set anywhere, even though it appears in the status bar of the IKPath inspector window.

I considered adding a line to the CheckNextTarget function, but ideally, I would prefer not to modify the realVirtual scripts directly:

Is this a bug? The value should be set somewhere...

Best regards,
Nico

May I ask if your company has launched the modbus client access function? I need to enter an IP and PORT to access Siemens 200smart PLC.

After upgrading to Unity 6 LTS, the MUs are no longer rotating on turn surfaces while following a Guided Transport, however if I go back to unity 2022 it is working as intended, what could be causing this?

Hallo,

ich arbeite mit realvirtual Pro und nutze die Inverse Kinematik, um Roboterpfade zu programmieren. Dabei fällt mir auf, dass ich nach jeder Verschiebung eines Targets mehrfach auf „Set Correction“ klicken muss, da sonst eine erhebliche Abweichung entsteht. Besonders problematisch wird dies, wenn die Abweichung so groß ist, dass das Ziel nicht mehr erreichbar ist.

Liegt der Fehler in meiner kinematischen Kette?

Ich verwende einen KUKA-Roboter, den ich in realvirtual nachgebildet habe. Dazu habe ich die Roboter-Vorlage von realvirtual genutzt und die Achspositionen entsprechend angepasst. Die Positionen habe ich in meinem CAD-Programm gemessen. Anschließend habe ich die Körper hinzugefügt. Das beigefügte Bild zeigt die Abweichung ohne Korrekturdaten.

Was könnten Gründe für die großen Abweichungen sein?

Falls dieses Verhalten normal ist: Gibt es einen Weg den "Set Correction"-Vorgang zu Automatisieren, zum Beispiel mit dem selection-manager? (Habe nämlich bereits gut 100 Targets und es werden mehr werden...)

Viele Grüße,

Nico

Hi,
I am using realvirtual.io pro and Unity version 2022.3.12f1. I received a question from a customer asking if I can perform simulations where Siemens telegrams are used.
Is it possible, and which is the best interface to use for this?
They also mentioned that the speed needs to be less than 4ms. This is all new to me, so I would like your opinion.

Telegrams:

Telegram 1, Frequency converters

Telegram 105, Servos

Telegram 83, Pulse encoders

Telegram 750, Additional Torque Data

How can we prevent a 100% CPU usage, when no plc is connected ?

My setup requires PLC to come in and out of the network, and every time the PLC goes out of the network, the CPU reaches 100% within 2 minutes. 

I want to use a Drive action on a behavior subgraph, but I don't know when and how to instantiate the drive. With drive on the blackboard of the subgraph, the drive will not be instantiated.

maingraph

subgraph

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

realvirtual.DriveToAction.OnStart () (at Assets/realvirtual/BehaviorGraph/DriveToAction.cs:27)

I have to override Axis in the main graph to create an instance of the drive:

But this is not what I want. I want to use the subgraph for a specific drive, without telling the subgraph all the time which drive. How can I create it?

I have created a scene based on a prefab by importing a CAD model. I decorated this prefab by adding groups of objects and colliders. Furthermore I created a kinematic structure that references to the groups.

Later on my CAD model had some changes and I wanted to reimport the CAD model. After the reimport all groups and colliders are gone. And I was also not able to undo the reimport ...

Is this how it should work? What workflow should I use to reimport CAD models that prevents loosing groups and colliders?