realvirtual.Grip Class Reference

Grip component for attaching and transporting MUs with moving mechanisms like robots or grippers. More...

Inheritance diagram for realvirtual.Grip:

Public Member Functions
void	DeActivate (bool activate)
	Picks the GameObject obj.
void	Fix (MU mu)
	Picks the GameObject obj.
void	Unfix (MU mu)
	Places the GameObject obj.
void	Pick ()
	Picks al objects collding with the Sensor.
void	Place ()
	Places all objects.
Public Member Functions inherited from realvirtual.realvirtualBehavior
void	PreStartSim ()
	Is called by the realvirtualController before the component is started.
void	StartSim ()
	Is called by the realvirtualController to start or stop the component.
void	StopSim ()
Vector3	DirectionToVector (DIRECTION direction)
	Transfers the direction enumeration to a vector.
DIRECTION	VectorToDirection (bool torotatoin, Vector3 vector)
	Transfers a vector to the direction enumeration.
float	GetLocalScale (Transform thetransform, DIRECTION direction)
List< BehaviorInterfaceConnection >	UpdateConnectionInfo ()
List< Signal >	GetConnectedSignals ()
void	SetVisibility (bool visibility)
	Sets the visibility of this object including all subobjects.
List< BehaviorInterfaceConnection >	GetConnections ()
List< Signal >	GetSignals ()
GameObject	GetChildByName (string name)
	Gets a child by name.
List< GameObject >	GetChildsByName (string name)
	Gets all child by name.
GameObject	GetChildByNameAlsoHidden (string name)
List< GameObject >	GetAllMeshesWithGroup (string group)
List< GameObject >	GetAllWithGroup (string group)
List< GameObject >	GetAllWithGroups (List< string > groups)
List< GameObject >	GetAllMeshesWithGroups (List< string > groups)
List< string >	GetMyGroups ()
List< GameObject >	GetMeshesWithSameGroups ()
List< GameObject >	GetAllWithSameGroups ()
MeshRenderer	GetMeshRenderer ()
	Gets the mesh renderers in the childrens.
void	SetCollider (bool enabled)
	sets the collider in all child objects
void	ErrorMessage (string message)
	Displays an error message.
void	ChangeConnectionMode (bool isconnected)
void	Log (string message)
	Logs a message.
void	Log (string message, object obj)
	Logs a message with a relation to an object.
void	Warning (string message, object obj)
	Logs a warinng with a relation to an object.
void	Error (string message, object obj)
	Logs an error with a relation to an object.
void	Error (string message)
	Logs an error.
GameObject	DebugPosition (string debugname, Vector3 position, Quaternion quaternation, float scale)
	Displays a gizmo for debugging positions.
void	SetFreezePosition (bool enabled)
	Freezes all child components to the current poosition.
void	SetRbConstraints (RigidbodyConstraints constraints)
virtual void	AwakeAlsoDeactivated ()

Public Attributes
Sensor	PartToGrip
	Identifies the MU to be gripped.
bool	DirectlyGrip
	If set to true the MU is directly gripped when Sensor PartToGrip detects a Part.
GameObject	PickAlignWithObject
bool	AlignRotation
	If not null the MUs are aligned with this object before picking.
GameObject	PlaceAlignWithObject
	If not null the MUs are aligned with this object after placing.
UnityEngine.Joint	ConnectToJoint
Sensor	PickBasedOnSensor
	Picking is started when this sensor is occupied (optional)
Drive_Cylinder	PickBasedOnCylinder
	Picking is stared when Cylinder is Max or Min (optional)
bool	PickOnCylinderMax
	Picking is started when Cylinderis Max.
bool	NoPhysicsWhenPlaced
	Object remains kinematic (no phyisics) when placed.
bool	PlaceLoadOnMU
	When placing the components they should be loaded onto an MU as subcomponent.
Sensor	PlaceLoadOnMUSensor
	Sensor defining the MU where the picked MUs should be loaded to.
bool	PickObjects
	true for picking MUs identified by the sensor.
bool	PlaceObjects
	//!< true for placing the loaded MUs.
EventMUGrip	EventMUGrip
	Unity event which is called for MU grip and ungrip. On grip it passes MU and true. On ungrip it passes MU and false.
bool	OneBitControl
	If true the grip is controlled by one bit. If false the grip is controlled by two bits.
PLCOutputBool	SignalPick
PLCOutputBool	SignalPlace
List< GameObject >	PickedMUs
Public Attributes inherited from realvirtual.realvirtualBehavior
string	Name
	The name of the component if it should be different from the GameObject name.
ActiveOnly	Active
GameObject	FromTemplate
realvirtualController	realvirtualController
bool	HideNonG44Components
bool	SceneIsAdditive
bool	ForceStop

Additional Inherited Members
Public Types inherited from realvirtual.realvirtualBehavior
enum	ActiveOnly {   Always , Connected , Disconnected , Never ,   DontChange }
Static Public Member Functions inherited from realvirtual.realvirtualBehavior
static bool	DirectionIsLinear (DIRECTION direction)
	Gets back if the direction is linear or a rotation.
Protected Member Functions inherited from realvirtual.realvirtualBehavior
bool	hidename ()
bool	hideactiveonly ()
virtual void	OnStopSim ()
virtual void	OnPreStartSim ()
virtual void	OnStartSim ()
MU	GetTopOfMu (GameObject obj)
	Gets the top of an MU component (the first MU script going up in the hierarchy)
void	InitGame4Automation ()
	Initialiates the components and gets the reference to the realvirtualController in the scene.
virtual void	AfterAwake ()
void	Awake ()

Detailed Description

Grip component for attaching and transporting MUs with moving mechanisms like robots or grippers.

The Grip component is a fundamental part of realvirtual's material handling system, enabling dynamic pick-and-place operations in industrial automation simulations. It provides flexible attachment mechanisms for securely gripping MUs (Material Units) and transporting them through the production system. The component works by detecting MUs through a sensor, fixing them kinematically or with physics joints, and maintaining the attachment while the parent object moves through space.

Key Features:

• Sensor-based MU detection for automatic or controlled gripping
• Kinematic attachment for stable, physics-free transportation
• Optional physics joint connection for dynamic simulations
• Alignment control for precise positioning during pick and place operations
• Direct gripping mode for immediate attachment on sensor detection
• Support for loading MUs as subcomponents onto other MUs
• Single-bit or dual-bit PLC control modes
• Unity events for grip and ungrip notifications

Common Applications:

• Robotic end effectors and tool changers
• Conveyor transfer mechanisms
• AGV loading/unloading systems
• Palletizing and depalletizing operations
• Assembly line pick-and-place stations
• Material sorting and distribution systems

Integration Points: The Grip component integrates seamlessly with other realvirtual components through the sensor system for MU detection, the MU system for material tracking, and Drive_Cylinder for automated gripping based on cylinder positions. It can be controlled through PLC signals (PLCOutputBool) for industrial control system integration or directly through Unity Inspector properties for simulation control.

Performance Considerations: The component uses kinematic attachment by default, which is more performant than physics-based joints. When using physics joints (ConnectToJoint), ensure proper joint configuration to avoid unstable simulations. The component efficiently manages multiple gripped objects through list-based tracking and provides immediate response to control signals in FixedUpdate for deterministic behavior.

Events and Signals: The EventMUGrip Unity event provides real-time notifications of grip operations, passing the MU reference and grip state (true for grip, false for ungrip). This enables custom logic execution during material handling operations, such as updating production tracking systems or triggering dependent automation sequences.

For detailed documentation and examples, visit: https://doc.realvirtual.io/components-and-scripts/grip

Member Function Documentation

DeActivate()

void realvirtual.Grip.DeActivate

(

bool

activate

)

Picks the GameObject obj.

Implements realvirtual.IFix.

Fix()

void realvirtual.Grip.Fix

(

MU

mu

)

Picks the GameObject obj.

Implements realvirtual.IFix.

Pick()

void realvirtual.Grip.Pick

(

)

Picks al objects collding with the Sensor.

Place()

void realvirtual.Grip.Place

(

)

Places all objects.

Unfix()

void realvirtual.Grip.Unfix

(

MU

mu

)

Places the GameObject obj.

Implements realvirtual.IFix.

Member Data Documentation

AlignRotation

bool realvirtual.Grip.AlignRotation

If not null the MUs are aligned with this object before picking.

DirectlyGrip

bool realvirtual.Grip.DirectlyGrip

If set to true the MU is directly gripped when Sensor PartToGrip detects a Part.

EventMUGrip

EventMUGrip realvirtual.Grip.EventMUGrip

Unity event which is called for MU grip and ungrip. On grip it passes MU and true. On ungrip it passes MU and false.

NoPhysicsWhenPlaced

bool realvirtual.Grip.NoPhysicsWhenPlaced

Object remains kinematic (no phyisics) when placed.

OneBitControl

bool realvirtual.Grip.OneBitControl

If true the grip is controlled by one bit. If false the grip is controlled by two bits.

PartToGrip

Sensor realvirtual.Grip.PartToGrip

Identifies the MU to be gripped.

PickBasedOnCylinder

Drive_Cylinder realvirtual.Grip.PickBasedOnCylinder

Picking is stared when Cylinder is Max or Min (optional)

PickBasedOnSensor

Sensor realvirtual.Grip.PickBasedOnSensor

Picking is started when this sensor is occupied (optional)

PickObjects

bool realvirtual.Grip.PickObjects

true for picking MUs identified by the sensor.

PickOnCylinderMax

bool realvirtual.Grip.PickOnCylinderMax

Picking is started when Cylinderis Max.

PlaceAlignWithObject

GameObject realvirtual.Grip.PlaceAlignWithObject

If not null the MUs are aligned with this object after placing.

PlaceLoadOnMU

bool realvirtual.Grip.PlaceLoadOnMU

When placing the components they should be loaded onto an MU as subcomponent.

PlaceLoadOnMUSensor

Sensor realvirtual.Grip.PlaceLoadOnMUSensor

Sensor defining the MU where the picked MUs should be loaded to.

PlaceObjects

bool realvirtual.Grip.PlaceObjects

//!< true for placing the loaded MUs.