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The GripperBase needs at least one Gripper Finger to function. You can assign these in the “Properties” tab.
As soon as you have assigned all fingers, set a Close Time, the GripperBase is now ready for use.
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2. Add Controls
If you wish to control the Gripper Base within Unity, create a Control Panel for the Gripper Base from the “Control Panel” tab.
If you wish to control the Gripper Base through a PLC, connect the Gripper Base through its Logic component.
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Assign the Wheel Joint to the Angular Gripper Finger. Make sure it is properly setup and that it is parented under a Kinematics Controller . A (new) Wheel Joint found on the same Game Object is automatically assigned by default.
Set a Lower and Upper Limit to describe the degrees of freedom for the Angular Gripper Finger.
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To detect objects, the Angular Gripper Finger needs a Trigger Collider.
Create a suitable Collider that covers the gripping surface and make sure it sticks out a little to be able to properly detect objects.
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Also, ensure that “Is Trigger” is checked in the Collider component. Lastly, add the Collider component to the Angular Gripper Finger.
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The Angular Gripper Finger on its own cannot grip anything, it needs a Gripper Base to control it.
Assign the Angular Gripper Finger to an object with a Gripper Base component.
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Everything should have been setup properly by now.
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Assign the Prismatic Joint to the Parallel Gripper Finger. Make sure it is properly setup and that it is parented under a Kinematics Controller. A (new) Prismatic Joint found on the same Game Object is automatically assigned by default.
2. Assign Trigger
To detect objects, the Parallel Gripper Finger needs a Trigger Collider.
Create a suitable Collider on the finger object that covers the gripping surface and make sure it sticks out a little to be able to properly detect objects.
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Make sure that “Is Trigger” is checked in the Collider component. Lastly, add the Collider component to the Parallel Gripper Finger.
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The ParallelGripperFinger on its own cannot grip anything. It needs a GripperBase to control it.
Assign the ParallelGripperFinger to a GripperBase.
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Everything should have been setup properly by now.
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To detect objects, the Vacuum Gripper Finger needs a Trigger Collider.
Create a suitable Collider that covers the gripping surface and make sure it sticks out a little to be able to properly detect objects.
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Also, make sure that “Is Trigger” is checked in the Collider component. Lastly, add the Collider component to the Vacuum Gripper Finger.
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The Vacuum Gripper Finger on its own cannot grip anything. It needs a Gripper Base to control it.
Assign the Vacuum Gripper Finger to a GripperBase.
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Everything should have been setup properly by now.