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Read the position of the free state drive or joint
Hello. I need a quick response if possible.
I am using the RealVirtual Professional version.
How can I achieve the desired goal in the image? Should I use a Joint or Drive?
For Drive, you have Drive_MeasureSpeedPosition, and that’s great.
Is it possible to disable the Drive so it can rotate freely?
Connection with the PLC is okay, but the values never update
Hello everyone, I’m new to this forum. In case anyone has a similar problem where the values never update, but the connection to the S7 PLC is successful. Here is how to solve this problem. I hope it will be helpful to someone.
Working with Offsets
Hello Realvirtual.io Team,
in the robot configuration I deviate by -90 deg. on the Axis 2 and +90 deg. on Axis 3. Intuitively I tried to configure this with an offset, but as soon I try to calculate the inverse kinematics again and do path planning, things don't work as expected.
Range Axis2: -120; -5
When I add the offset of axis 2 by hand (lower limit: -30; upper limit: 85) then things work as expected, but since the robot will be connected via OPCUA Plugin, I don't know how to add the offset otherwise.
Robot: Kuka KR2700 prime
Thank you for your help!
Hi, the "home" position (=position in Editor Mode) for our IK must be always this
Otherwise the IK will not work.
Ideally this would be also the OPCUA Positions where each drive has Position 0. If not you can work with Offsets in the Drives. But youh should only use Offsets for OPCUA and not for our included inverse kinematics.
Maybe it is best to define two robots. One using our IK with the correct settings and one getting the Axis values over OPCUA.
If you thing that our IK is doing something wrong (your last picture) - please send us your project where we can check this to: https://realvirtual.io/send
Please only include what we really need and set the scene to a situation where we can see directly your problem.
Fehler bei Kuka .step datei import
Ich erhalte folgenden Fehler beim importieren von einer Kuka Step Datei in Realvirtual.io.
Unity Version: 2022.3.25f
UnityException: Transform child out of bounds
realvirtual.CADLink.CompleteCADData (UnityEngine.GameObject resultgo) (at Assets/realvirtual/CADLink/private/CADLink.cs:388)
realvirtual.CADLink.ImportCad () (at Assets/realvirtual/CADLink/private/CADLink.cs:238)
System.Reflection.RuntimeMethodInfo.Invoke (System.Object obj, System.Reflection.BindingFlags invokeAttr, System.Reflection.Binder binder, System.Object[] parameters, System.Globalization.CultureInfo culture) (at :0)
Rethrow as TargetInvocationException: Exception has been thrown by the target of an invocation.
System.Reflection.RuntimeMethodInfo.Invoke (System.Object obj, System.Reflection.BindingFlags invokeAttr, System.Reflection.Binder binder, System.Object[] parameters, System.Globalization.CultureInfo culture) (at :0)
System.Reflection.MethodBase.Invoke (System.Object obj, System.Object[] parameters) (at :0)
NaughtyAttributes.Editor.NaughtyEditorGUI.Button (UnityEngine.Object target, System.Reflection.MethodInfo methodInfo) (at Assets/realvirtual/private/Tools/NaughtyAttributes/Editor/Utility/NaughtyEditorGUI.cs:167)
NaughtyAttributes.Editor.NaughtyInspector.DrawButtons (System.Boolean drawHeader) (at Assets/realvirtual/private/Tools/NaughtyAttributes/Editor/NaughtyInspector.cs:188)
NaughtyAttributes.Editor.NaughtyInspector.OnInspectorGUI () (at Assets/realvirtual/private/Tools/NaughtyAttributes/Editor/NaughtyInspector.cs:52)
UnityEditor.UIElements.InspectorElement+<>c__DisplayClass72_0.b__0 () (at /Users/bokken/build/output/unity/unity/Editor/Mono/UIElements/Inspector/InspectorElement.cs:713)
UnityEngine.GUIUtility:ProcessEvent(Int32, IntPtr, Boolean&) (at /Users/bokken/build/output/unity/unity/Modules/IMGUI/GUIUtility.cs:203)
Robot IK Path (Target 0) Program - Not reachable
Hello. Realvirtual team.
I created a Robot IK Path (Target 0) while learning Robot IK following the realvirtual professional tutorial,
but I have a question because IK cannot reach the Target 0.
I used the "ABB IRB4400" Robot model and performed the following tasks.
1) Robot 6-axis configuration and Drive settings
2) Robot TCP configuration
3) Add Robot IK component and then 6-axis and TCP settings
4) Path creation and then IK Path component
→ When I tried Add new Target, it said it cannot be reached. (It is clearly an area that can be reached.)
→ I also tried moving the Target here and there, but the robot does not follow at all.
Can you guide me on where I made a mistake and caused this situation?
Thanks.
Best regards,
Seokhyun Lee
※ Problem Situation (Capture)
※ Robot Setting (Capture)
Sensor.cs - Problem in OnTriggerExit
Hello realvirtual team,
on working with the sensor component I encountered an issue in the OnTriggerExit event.
I use the sensor event "EventExit" to trigger logic in my own scripts.
In my application I have a sensor on a MU and this MU stands on a conveyor.
When the MU leaves the conveyor I want to invoke an event in a seperate script.
The problem is that the conveyor is not a MU and therefore "muobj" is null. This is correct.
But because of that the statement "if (thismuobj == muobj)" gets true (both is "null") and the EventExit is not getting invoked.
I am not exactly sure why the foreach statement is necessary.
I changed the codeline 398 to this: (so the EventExit is getting invoked)
Please check if this change is a problem in other cases. Maybe you can implement it in the next update.
Thank you very much.
Best regards,
Andreas
Hello,
the "OnExit" event of the sensor is triggered when a MU exits the sensor. If I understand correctly, you’ve attached the sensor as a component of the MU. In that case, it won’t work as intended.
We won’t be changing this in the release because the for-each loops account for the fact that a single MU can consist of multiple colliders, which the sensor may detect.
I recommend the following approach: place the sensor as a standalone GameObject at the end of your conveyor and use it to trigger your script.
Alternatively, you could use Unity's standard OnCollisionExit method on your own component attached to your MU.
Best regards
Christin
Problem with Drive with AGX
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?
Hi, how long took it in total? Yes our Step file is not always very fast and it could happen that you need to wait more than 15mins for bigger files.
IK problem
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?
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