2021.1.1208.2 Gripper

1 Overview
2 Where to find
3 Feature Layout - Physical Component
4 Feature Layout - Control Panel
5 How to use

Overview

The Gripper System consists of two parts; the Gripper Base and the Gripper Fingers. The Gripper system allows you to create a working gripper to grip objects.

Example of working Grippersystem with Angular Gripper Fingers.

Where to find

You can find the Gripper Base under Standard Components > Gripper > Gripper base > Add Physical Component

Feature Layout - Physical Component

Live Data
State	Shows the current state of the GripperBase.
Current Close Percentage	Shows how far the gripper is currently closed.
Gripped Objects	Shows a list of all gripped objects.
Properties
Close Time (s)	The time in seconds the GripperBase takes to move the fingers from fully opened to fully closed.
Fingers	A list of all GripperFingers assigned to the GripperBase.
Delete	A button used for deleting a GripperFinger from the list.
Add Finger	Use this field to assign a new GripperFinger to the GripperBase.
Control Panel
Generate Control Panel	A button used for adding a ControlPanelInterface component for the GripperBase onto the same GameObject.

Feature Layout - Control Panel

Title	The Title of the Control Panel. Click to ping the target component in the hierarchy. Double click to edit.
GripperBase Properties
State	Shows the current state of the GripperBase.
Current Close Percentage	Shows how far the gripper is currently closed.
Open/Close	Opens or closes the Gripper.
Target Component
Target Gameobject	The gameobject which has a standardcomponent you want the Control Panel for.
Target Component	The Component which for which a Control Panel is generated.

How to use

Assign Fingers

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.

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 an external controller, connect the Gripper Base through its Logic component.