Thanks for your reply. I will check out Unity Robotics Hub first as you mentioned. If you have any guides on how to interface Unity Robotics Hub with Realvirtual IO, please let me know.

Thank you for your reply. These days, 6-axis collaborative robots are widely used in industrial sites, so it seems that a solution that can solve the IK of such robots (Axis 6, 5, 4 are not aligned in a straight line) is required when building a digital twin.

For example, UR robots can be said to be representative.

※ UR16e: https://www.universal-robots.com/products/ur16e/

I would appreciate it if you could let me know the results of the feasibility review.

Thanks for reply. If so, could you please share if you know of any other Unity Assets that support IK for a 6-axis collaborative robot (a robot where Axis6, 5, and 4 are not aligned in a straight line)? (Paid or free assets are fine.)

Thank you for your reply.

1)
I applied the axis coordinate system using the empty prefab you mentioned. (Assets/realvirtual/Professional/IK/EmptyRobotKinematic.prefab) 

And then, it works normally. :)

2)
I have an additional question.
IK Path generation works differently in the two cases below. 

I would like to ask what settings are responsible for the difference. 

(In Case 1, the IK works with the TCP facing forward (front of the robot), and in Case 2, the IK works with the TCP facing downward (bottom of the robot).)

Case 1) ABB Robot (6-axis)
- I fine-tuned the axis positions to match the ABB IRB4400 3D model in the IK empty prefab.
(Assets/realvirtual/Professional/IK/EmptyRobotKinematic.prefab)

- Also, the Z-axis direction of the TCP was set to the front of the robot.

※ Case 1 : Robot Setting

※ Case 1 : IK Path Movement Result
→ IK Path is created with TCP facing forward (front direction of robot).
    How should I set it to look down like Case 2?

Case 2) Autonox Robot (6-axis)
- IK example prefab. (Assets/realvirtual/Professional/IK/AUTONOX/Autonox_AT_00005.prefab)

※ Case 2 : Robot Setting

※ Case 2 : IK Path Movement Result
→ IK Path is created with TCP facing down (bottom direction of robot). (Difference from Case 1)

Thanks.

Best regards,

Seokhyun Lee