I haven't had the chance to dive deeper into your requirements for extending the grip and fixer functions yet. I understand that working with RealVirtual can be a bit challenging, especially when you're in the process of learning it without a training or project support from our side.

I do have a question regarding your setup. My initial approach would be to create a grip script for the robots and assign the fixer function to the turntable. This approach should ideally work right out of the box as far as I understand the necessery process. But yes if you would do it like that, you would not have the direct integration into IKTarget.

Regarding your question:

• The Grip function is typically the active component (like robots, etc.) and is controlled by a signal.
• The Fixer function, on the other hand, is usually passive. It’s primarily used for securely fixing objects without requiring a controlling signal. The way it works is simple: when the Grip opens and the part is inside Fixer's area, the object is fixed. When the Grip closes again, the object is gripped and the fixer is releasing it. Essentially, Grip manages the control, while Fixer, in the end, just somehow glues the component to a fixed place.
• For the ease of use we integrated the Fixer function into the IK functions. But I did not checked your setup to use a grip on the other side. Will need to do that.

Thanks for your proposed changes but currently I am not sure if this is working in all other cases. I would need to make a deep dive into int.

Hope this helps! Looking forward to your thoughts.

Was steht in der roten Meldung wenn man dort draufklickt - wie sieht die Player log im Detail aus - Ist der DebugMode (eine Eigenschaft im Interface) an?

Hallo, haben Sie den DebugMode mal angemacht im Interface, was kommt in der Console von Unity?

Die Nutzerrechte auf der TwinCAT Server seite müssena auch richtig gesetzt sein soweit ich mich erinnere.

Hi, we don't know HybridCLR. But it seems that it makes changes to Unitys il2cpp code. Our ikcalculator is encrypted and this might be the reason that there are issues. Might be very difficult on our side to support HybridCLR which is a very special setup.

Hi, I did checked but can't reproduce it. 

Did you maybe do the changes while in run mode? Can you send the model if the issue is still existing. You can upload your model to

https://realvirtual.io/send/

Hi,

Unity's mesh-based system offers great performance, but selecting centers can sometimes be tricky. Here are a few solutions to help you overcome this issue:

• Use CAD Design Components: Often, CAD designs include components with correctly positioned pivot points. You can use these as a basis for your setup.
• Refer to Data Sheets: For robotics, data sheets often provide precise information about pivot points and other important details.
• Build Kinematics Externally: In many cases, we construct the kinematic hierarchy externally from the design itself. Check out the Kinematic and Group Script for more information.
• Move Pivot Tool: You can use the Move Pivot
  Tool to adjust and align the pivot points of your objects.
• Kinematic Tool in Realvirtual Professional: If you're using Realvirtual Professional, there's a new Kinematic Tool that simplifies defining kinematic chains.
• Select 3 Points: With either the Pivot Tool or the Kinematic Tool, you can select 3 points to move the pivot of the kinematic hierarchy. However, this method carries some risk as there’s no guarantee that the pivot will align perfectly with the actual center of the robot axis.

PLCSim is not supported officially from our side - even if there are some TCP to PLCSIM software.

All I described is true for a real PLC. If you would need to write to a "real" input which is available in the Hardware Config you would need to use our PLCSIMAdvanced Interface. PLCSimAdvanced is another product of Siemens and totally different to PLCSIM. 

This is really a little bit complicated with Siemens - With Beckhoff for example there is one "software" and "hardware" PLC and they are totally the same. But it is like it is.

Hi Andreas,

here are my answers:

1. This behavior is by design from Siemens. It's not possible to change this. If a hardware value is at a certain level, you can't overwrite it with software.
2. This is not a bug; it's a common characteristic of all software solutions utilizing real Siemens PLC hardware. To avoid values being overwritten, you can modify your hardware configuration or use a simulated PLC.

To the best of my knowledge, you don't need to change the program itself. However, you do need to adjust the hardware configuration to ensure the symbol you are using does not conflict with a real hardware input.

Solutions that Work Without Changing Hardware Configuration for Siemens Controllers:

• Use PLCSimAdvanced
• Use Simit in Combination with a Simulation Unit

It seems the issue is that the part is being gripped by two components, which is something we currently don't support. Typically, we use a combination of a Fixer (for the passive part) and a Gripper (for the active part). In the coming days, I'll be creating a test model to explore whether we can extend the functionality of the Gripper to address this.