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2021.1.1208.2 Angular Gripper Finger

Overview

The AngularGripperFinger is a GripperFinger used with the GrippedBase to from a gripper system.


Where to find

You can find the Angular Gripper Finger under Standard Components > Gripper > Angular Gripper Finger > Add Physical Component


Feature Layout - Physical Component

Live Data

 

Wheel Joint

The WheelJoint the AngularGripperFinger uses to rotate.

Lower Limit (deg)

The minimum rotation limit of the WheelJoint in degrees.

Upper Limit (deg)

The maximum rotation limit of the WheelJoint in degrees.

Trigger

The trigger collider used to detect objects on the gripping surface.

Generate Rigidbody

Whether a Rigidbody needs to be generated on the Trigger GameObject upon starting playmode. This is necessary for fingers to detect collisions with each other, depending on how the fingers are setup.

Detected Objects

A list of detected objects.


How to use

  1. Assign a Wheel Joint to the Angular Gripper Finger.

  2. Assign a trigger collider to the Angular Gripper Finger. (Make sure that “Is Trigger“ is check on the collider).

     

  3. Assign the Angular Gripper Finger in the Gripper Base as a finger.

     

  4. Check wether the components work in play mode.


Prespective Documentation