Co-simulation architecture between a digital twin and a virtual reality environment in an industrial context

In the context of Industry 4.0 and digital factory, digital twin and virtual reality represent technologies that can deal with several industrial issues like design, simulation and optimisation of industrial systems. They are helpful to develop collaboration, innovation or training.
The major goal of this article is to propose an architecture of communication, based on Functional Mockup Interface to standardize communication processes and development between simulation software and virtual reality software. The architecture is subdivided in three parts: the first one manages the simulation of digital twins and their physical constraints, the second one manages the data transfer between simulation and visualisation software and the last one manages interactions with digital twins within a virtual reality environment. This was developed with 3DEXPERIENCE as simulation software, Unity as 3D rendering and visualisation software and C# and C++ programs to manage data transfer. The implementation of that digital twin architecture is demonstrated on an UR10, a 6-axis cobotic arm.