realvirtual.RobotIK Class Reference

Provides industrial robot inverse kinematics for 6-axis robotic arms with advanced path planning and motion control. More...

Inheritance diagram for realvirtual.RobotIK:

Public Member Functions
Vector3	GetTCPPosGlobal ()
Quaternion	GetTCPRotGlobal ()
void	SetExternalControl (bool enabled)
	Enable or disable external control mode for all robot axes.
void	TargetMoveEditMode (bool active)
void	MoveEditMode ()
void	ToHomePos ()
void	SetTCP (GameObject tcp)
void	SetTargetProperties (IKTarget target)
void	SolveIK (IKTarget target)
bool	PositionRobotGlobal (Vector3 globalpos, Quaternion globalrot, int sortedSolutionIndex, bool TurnCorrection)
JobHandle	SchedulePositionRobotGlobal (Vector3 globalpos, Quaternion globalrot, int solution, bool turnCorrection)
	Schedule IK calculation asynchronously.
bool	CompletePositionRobotGlobal ()
	Complete the scheduled IK job and position drives.
void	SetReferenceAngles (float[] referenceAngles)
	Sets the reference angles used for sorting IK solutions.
void	SetReferenceAnglesToCurrentPosition ()
	Sets the reference angles from the current robot joint positions.
void	SolveIKWithReference (IKTarget target, float[] referenceAngles)
	Solves IK for the target and uses referenceAngles to sort reachable solutions.
Public Member Functions inherited from realvirtual.realvirtualBehavior
virtual void	OnOwnershipChanged (bool isOwner)
	Called when network ownership changes.
void	SetNetworkOwner (bool isOwner)
	Sets IsNetworkOwner and triggers OnOwnershipChanged callback.
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, bool includeTriggers=true)
	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 warning 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
int	Solution
	The current raw IK solution index used for positioning drives.
string[]	Solutions
	The sorted reachable solutions of the IK calculation (index 0 = closest to reference angles)
int[]	SolutionRawIndices
	Maps sorted display position to raw IK solution index.
bool	MoveInEditMode
	Move the robot in edit mode.
bool	FollowTarget
	Follow the target in edit mode.
IKTarget	Target
	The target to follow in edit mode.
Vector3	TargetPosRightHanded
	The target position in right handed coordinates.
Vector3	TargetRotRightHanded
	The target rotation in right handed coordinates.
bool	DrawGizmos
	Draw TCP marker, axis directions and limit arcs in scene view.
bool	ShowElbowDirection
	Show elbow direction arrow at robot base.
bool	ShowKinematicChain
	Show DH kinematic chain with segment lengths.
bool	ShowJointPositions
	Show current joint positions as needles within limit arcs.
bool	ShowAxisFrames
	Show local coordinate frames and rotation direction at each axis.
bool	ShowWristType
	Show wrist type indicator (sphere for spherical, offsets for non-spherical)
bool	ElbowInUnityX
	The elbow is in the Unity X direction.
Drive[]	Axis
	The drives of the robot.
GameObject	TCP
	The TCP of the robot.
IKTarget	HomePosOnStart
	The home position of the robot on start.
RobotWristType	WristType
	Wrist kinematic type: Spherical for standard robots, NonSpherical (BETA) for cobots with wrist offsets.
SolutionSelectionMode	SolutionSelection
	Strategy for selecting among valid IK solutions when the requested one is unreachable.
bool	MirrorSeeds
	Generate 8 mirrored wrist-flip seeds from the 4 Pieper base configurations to find additional solutions.
int	HaltonSeedCount
	Number of Halton low-discrepancy fallback seeds (0 = disabled); adds random joint-space seeds for hard-to-reach poses.
float	NRAngularWeight
	Weight for orientation vs position in NR solver.
float	NROrientationTolerance
	Orientation convergence tolerance in radians (0.57 degrees)
bool	NRDiagnostics
	Enable NR convergence logging to Unity console.
double	d4
	Wrist offset from axis 3 to axis 4 in millimeters (auto-calculated)
double	d5
	Wrist offset from axis 4 to axis 5 in millimeters (auto-calculated)
double	a5
	Wrist length parameter of axis 5 in millimeters (auto-calculated)
double	a6
	Wrist length parameter of axis 6 in millimeters (auto-calculated)
Vector3	ToolOffset
	The tool offset of the TCP.
double	a1
	The a1 parameter of the robot.
double	a2
double	b
double	c1
double	c2
double	c3
double	c4
	The a2, b, c1, c2, c3, c4 parameter of the robot.
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
bool	IsNetworkOwner
	True when this component owns its simulation (local authority). Set to false by MultiplayerWEB on remote clients.

Properties
bool	IsNonSphericalWrist [get]
	Returns true when WristType is NonSpherical. Used by NaughtyAttributes [ShowIf] to conditionally display solver parameters.
bool	HasScheduledJob [get]
	Check if an IK job is currently scheduled.

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

Provides industrial robot inverse kinematics for 6-axis robotic arms with advanced path planning and motion control.

This professional component enables precise robot control through inverse kinematics calculations, supporting multiple IK solutions, TCP management, and seamless integration with drive systems. Used for virtual commissioning of robotic cells, path validation, and cycle time optimization in industrial automation scenarios.

Member Function Documentation

CompletePositionRobotGlobal()

bool realvirtual.RobotIK.CompletePositionRobotGlobal

(

)

Complete the scheduled IK job and position drives.

Returns true if position is reachable.

SchedulePositionRobotGlobal()

JobHandle realvirtual.RobotIK.SchedulePositionRobotGlobal	(	Vector3	globalpos,
		Quaternion	globalrot,
		int	solution,
		bool	turnCorrection
	)

Schedule IK calculation asynchronously.

Call CompletePositionRobotGlobal() to get results. This allows other work to run while IK calculates on a worker thread. Returns the JobHandle for combining with other IK jobs for parallel execution.

SetExternalControl()

void realvirtual.RobotIK.SetExternalControl

(

bool

enabled

)

Enable or disable external control mode for all robot axes.

When enabled, axes skip their normal FixedUpdate calculations (IK sets position directly). Call with true when IKPath starts, false when it ends.

SetReferenceAngles()

void realvirtual.RobotIK.SetReferenceAngles

(

float[]

referenceAngles

)

Sets the reference angles used for sorting IK solutions.

Call before SolveIK() to enable MinimalAngleChange-based solution sorting. Angles are in degrees.

SetReferenceAnglesToCurrentPosition()

void realvirtual.RobotIK.SetReferenceAnglesToCurrentPosition

(

)

Sets the reference angles from the current robot joint positions.

Used as fallback when no previous path target exists.

SetTargetProperties()

void realvirtual.RobotIK.SetTargetProperties

(

IKTarget

target

)

Don't display / update on playing because of NaughtyAttributes bug

SolveIKWithReference()

void realvirtual.RobotIK.SolveIKWithReference	(	IKTarget	target,
		float[]	referenceAngles
	)

Solves IK for the target and uses referenceAngles to sort reachable solutions.

If referenceAngles is null, uses current robot joint positions as reference.

Member Data Documentation

a1

double realvirtual.RobotIK.a1

The a1 parameter of the robot.

a5

double realvirtual.RobotIK.a5

Wrist length parameter of axis 5 in millimeters (auto-calculated)

a6

double realvirtual.RobotIK.a6

Wrist length parameter of axis 6 in millimeters (auto-calculated)

Axis

Drive [] realvirtual.RobotIK.Axis

The drives of the robot.

c4

double realvirtual.RobotIK.c4

The a2, b, c1, c2, c3, c4 parameter of the robot.

d4

double realvirtual.RobotIK.d4

Wrist offset from axis 3 to axis 4 in millimeters (auto-calculated)

d5

double realvirtual.RobotIK.d5

Wrist offset from axis 4 to axis 5 in millimeters (auto-calculated)

DrawGizmos

bool realvirtual.RobotIK.DrawGizmos

Draw TCP marker, axis directions and limit arcs in scene view.

ElbowInUnityX

bool realvirtual.RobotIK.ElbowInUnityX

The elbow is in the Unity X direction.

FollowTarget

bool realvirtual.RobotIK.FollowTarget

Follow the target in edit mode.

HaltonSeedCount

int realvirtual.RobotIK.HaltonSeedCount

Number of Halton low-discrepancy fallback seeds (0 = disabled); adds random joint-space seeds for hard-to-reach poses.

HomePosOnStart

IKTarget realvirtual.RobotIK.HomePosOnStart

The home position of the robot on start.

MirrorSeeds

bool realvirtual.RobotIK.MirrorSeeds

Generate 8 mirrored wrist-flip seeds from the 4 Pieper base configurations to find additional solutions.

MoveInEditMode

bool realvirtual.RobotIK.MoveInEditMode

Move the robot in edit mode.

NRAngularWeight

float realvirtual.RobotIK.NRAngularWeight

Weight for orientation vs position in NR solver.

NRDiagnostics

bool realvirtual.RobotIK.NRDiagnostics

Enable NR convergence logging to Unity console.

NROrientationTolerance

float realvirtual.RobotIK.NROrientationTolerance

Orientation convergence tolerance in radians (0.57 degrees)

ShowAxisFrames

bool realvirtual.RobotIK.ShowAxisFrames

Show local coordinate frames and rotation direction at each axis.

ShowElbowDirection

bool realvirtual.RobotIK.ShowElbowDirection

Show elbow direction arrow at robot base.

ShowJointPositions

bool realvirtual.RobotIK.ShowJointPositions

Show current joint positions as needles within limit arcs.

ShowKinematicChain

bool realvirtual.RobotIK.ShowKinematicChain

Show DH kinematic chain with segment lengths.

ShowWristType

bool realvirtual.RobotIK.ShowWristType

Show wrist type indicator (sphere for spherical, offsets for non-spherical)

Solution

int realvirtual.RobotIK.Solution

The current raw IK solution index used for positioning drives.

SolutionRawIndices

int [] realvirtual.RobotIK.SolutionRawIndices

Maps sorted display position to raw IK solution index.

Solutions

string [] realvirtual.RobotIK.Solutions

The sorted reachable solutions of the IK calculation (index 0 = closest to reference angles)

SolutionSelection

SolutionSelectionMode realvirtual.RobotIK.SolutionSelection

Strategy for selecting among valid IK solutions when the requested one is unreachable.

Target

IKTarget realvirtual.RobotIK.Target

The target to follow in edit mode.

TargetPosRightHanded

Vector3 realvirtual.RobotIK.TargetPosRightHanded

The target position in right handed coordinates.

TargetRotRightHanded

Vector3 realvirtual.RobotIK.TargetRotRightHanded

The target rotation in right handed coordinates.

TCP

GameObject realvirtual.RobotIK.TCP

The TCP of the robot.

ToolOffset

Vector3 realvirtual.RobotIK.ToolOffset

The tool offset of the TCP.

WristType

RobotWristType realvirtual.RobotIK.WristType

Wrist kinematic type: Spherical for standard robots, NonSpherical (BETA) for cobots with wrist offsets.

Property Documentation

HasScheduledJob

bool realvirtual.RobotIK.HasScheduledJob

get

Check if an IK job is currently scheduled.

IsNonSphericalWrist

bool realvirtual.RobotIK.IsNonSphericalWrist

get

Returns true when WristType is NonSpherical. Used by NaughtyAttributes [ShowIf] to conditionally display solver parameters.