I would like to share dip Rig, a plugin I designed for Cinema 4D. It generates a parametric six-axis robotic arm from a chain described as data (axes, limits, geometry, joints), with its own physics: limits, effort, friction and interaction with objects. You talk to it directly: in the video below (sped up), I ask, and the arm plans, grasps and stacks the cubes.

The rig is described once, independently of the native rig: the same arm is handled in Cinema 4D, runs in a browser, trains in simulation, then faces its physical counterpart.

One design question I would value your view on: when a plugin runs its own physics step inside Cinema 4D, where would you hook it so that it stays in sync with the timeline and the viewport: a SceneHook, a tag, or the generator itself?

More about the suite (dip Rig, dip Chat, dip Cable): https://dip-ai.io/en/projets/plugins-c4d.html

Best regards,
David Pichot