Simulate using RealVirtual.io

Create a new project

1. Open the Unity hub.
2. Create a new project by clicking on Create project and then selecting Universal 3D core as the project template.
3. Name your project and click on Create.
   The Unity editor opens with the default template.

Open RV assets

1. Once the Unity editor is open, click on Assets → Import Package → Custom Package.
2. Select the realvirtual.io package you have downloaded.
   If possible, always use the latest version.
3. To proceed with the integration, you have to agree to the realvirtual.io Terms and Conditions when prompted.
   The RV assets are loaded.

Open Wandelbots NOVA interface

Once the realvirtual.io assets are loaded, you should be able to see a demo scene on the scene window.

1. To open the NOVA interface, you need to follow this specific hierarchy in the project folder structure (lower-left window block).
2. Go to Assets → RealVirtual → Interfaces → WandelbotsNOVA./ The demo scene folder DemowandelbotsNova is displayed.

3. Drag and drop the demo scene inside the hierarchy to load it.
4. If displayed: Click on Import TMP essentials.
5. Remove the demo realvirtual cell to make sure the cells are not overlapping each other.

Download package newtonsoft-json

Wandelbots NOVA requires the package newtonsoft-json.

1. Click on Windows → Package manager to download it.
2. Click +↓ and select Install package by name.
3. Enter com.unity.nuget.newtonsoft-json as the desired package name.+
4. Click on Install. The package manager displays the required newtonsoft-json package.

Next, add this package to our player settings. Click on the search bar on the top-right and type “player settings”. In the search results, select “player project - player”. Scroll down to the script compilation section and then click on “+”. Add the following under “scripting define symbols” and click on apply:

REALVIRTUAL_JSON

Add newtonsoft-json to player settings

1. Use the search bar and search Player settings.
   The search results display Player project - player.
2. Select Player project - player.
3. Scroll down to the script compilation section and click on +.
4. In Scripting define symbols, add REALVIRTUAL_JSON and click on apply.
   The newtonsoft-json is added to the player settings.

Wandelbots NOVA is prepared to connect to realvirtual.

Connect Realvirtual to Wandelbots NOVA

1. Using Wandelbots NOVA, add a virtual robot to the cell using the Setup app: select FANUC as the robot manufacturer and fanuc-crx10ial as model.
   See the Quickstart for more information.
2. Open Robot Pad.

Now that the Wandelbots NOVA instance features a Unity editor, you can connect it to Reealvirtual. A successful connection is established via the instance URL and access token of a cloud instance or the instance URL for VMs and IPCs.

3. In the Unity editor, go to wandelbotsNovaInterface in the folder hierarchy and enter the instance URL and the access token in their respective fields.

4. Scroll down on the inspector page for wandelbotsNovaInterface and click on save 0 pos to save the robot's default position.
   This helps debugging during path planning in Teach mode.
5. Start the demo scene by clicking on the Play button.
   The FANUC in Wandelbots NOVA Robot Pad as well as the FANUC in the Unity Editor execute the same movements.

Teach mode

To jog and save target positions, teach mode needs to be enabled.

1. Go to the inspector page of wandelbotsNovaInterface.
2. Click on Teach mode ON.
   Jogging controls will be displayed.

Saved positions will only be saved in Unity.