Unityvr robot Scene 3 gripper

The gripper is a difficult part of the robot arm scene , It involves collision and joint movement with grasping objects , The following claw script only considers the preliminary functions , On this basis, improvements can be made .

 1. First, find the moving part of the paw —— Two fingers , They are the key to control opening and closing . Rename them respectively fingerRed and fingerBlue, In order to be easy to describe in the script . You can also use different colors to distinguish them , Also for the convenience of the production process .

 2. Add collision bodies to two fingers, red and blue respectively ,BoxCollider Just go , And adjust two Collider Location and size of , As long as the fingertip is small （ As shown in the figure below , In fact, it can be smaller ）. They are used to detect whether they touch objects . In addition, their IsTrigger Check it out , We don't want our paws to spring away as soon as they touch an object .

  3. Add a Rigidbody( rigid body ), After that, the collision body on little red and little blue needs to use this rigid body to call . And cancel the gravity of the rigid body , We don't want our paws to fall to the ground at the beginning .

  

 4. Test Xiaohong 、 The direction and distance that Xiaolan needs to move from opening the claw to closing the claw ： Click red and blue respectively , Check their local coordinates . As shown in the picture below , Opening and closing claws follow their Z Axial movement , And the moving distance is 0.15.

 

 5. Gripper script ：

  The first paragraph ： Declare variables

  The second paragraph ： Initialize variable , Here we have one Slider Control to control the opening and closing of the gripper , And only consider the open and closed states , Do not consider the intermediate state .

  The third paragraph ： A function that controls the opening and closing of jaws , Pass a 0 or 1 Parameters of . The gripper model has been simplified here , The command it gets is either open or closed .

  The fourth paragraph ： Use collision detection , Once an object is detected , Let the clamped object become the child node of the claw , Follow the claws to move .（ The object must have “Goods” Tags will be grabbed ）

  The fifth paragraph ： When opening the paw and the object leaves the paw , Let the object restore gravity , And break away from the father son relationship with the claw , It can fall from the claw .

  Expand your thinking ：

1. Here the claw only considers opening 、 Closed in two states , How to use Slider Control controls the intermediate transition state of the gripper from open to closed

2. How to realize the closing process of the gripper , The function of stopping on the surface of an object immediately once it touches it .