Hello,
I need help controlling a Robotiq gripper in Unity. I am using the Articulation Body component for each part of the manipulator.
Currently, I’m trying to connect the robotiq_85_inner_knuckle_link with both the robotiq_85_left_finger_tip_link and the robotiq_85_base_link. However, the issue is that it only attaches to one of them at a time.
My goal is to create a constraint so that when I move the fingertip of the gripper, the knuckle link moves correctly in sync. This connection is only meant to enforce proper motion—I’m not planning to move the knuckle link itself directly.
I’ve included a labeled picture of the gripper.
The heirarchy in Unity is as follows:
graph TD
A[robotiq_85_base_link]
A --> B4[robotiq_85_right_knuckle_link]
A --> B3[robotiq_85_left_knuckle_link]
B3 --> C3[robotiq_85_left_finger_link]
B4 --> C4[robotiq_85_right_finger_link]
C3 --> D3[robotiq_85_left_finger_tip_link]
C4 --> D4[robotiq_85_right_finger_tip_link]
D3 --> E3[robotiq_85_left_inner_knuckle_link]
D4 --> E4[robotiq_85_right_inner_knuckle_link]
Please tell me the solution as brief as possible as I am a beginner in Unity.
Thank you for your time and assistance!
