can pick up cube

ArmRobot/Assets/Scenes/GripperScene.unity

@@ -664,6 +664,118 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &1277722515
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1277722519}
+  - component: {fileID: 1277722518}
+  - component: {fileID: 1277722517}
+  - component: {fileID: 1277722516}
+  - component: {fileID: 1277722520}
+  m_Layer: 0
+  m_Name: Cube
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!65 &1277722516
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1277722515}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Size: {x: 1, y: 1, z: 1}
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!23 &1277722517
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1277722515}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  m_RayTraceProcedural: 0
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: 351a807c5fbdd4ff19fde1c2c5449e8c, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 1
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+  m_AdditionalVertexStreams: {fileID: 0}
+--- !u!33 &1277722518
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1277722515}
+  m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!4 &1277722519
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1277722515}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0.25, z: 0}
+  m_LocalScale: {x: 0.4, y: 0.4, z: 0.4}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 5
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!54 &1277722520
+Rigidbody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1277722515}
+  serializedVersion: 2
+  m_Mass: 1
+  m_Drag: 0
+  m_AngularDrag: 0.05
+  m_UseGravity: 1
+  m_IsKinematic: 0
+  m_Interpolate: 0
+  m_Constraints: 0
+  m_CollisionDetection: 0
 --- !u!1001 &1675751553
 PrefabInstance:
   m_ObjectHideFlags: 0

ArmRobot/Assets/Scripts/GripperDemoController.cs

@@ -12,18 +12,21 @@ public class GripperDemoController : MonoBehaviour
 
     private void FixedUpdate()
     {
-        ArticulationBody articulation = GetComponent<ArticulationBody>();
+        if (moveState != BigHandState.Fixed)
+        {
+            ArticulationBody articulation = GetComponent<ArticulationBody>();
 
-        //get jointPosition along y axis
-        float xDrivePostion = articulation.jointPosition[0];
-        Debug.Log(xDrivePostion);
+            //get jointPosition along y axis
+            float xDrivePostion = articulation.jointPosition[0];
+            Debug.Log(xDrivePostion);
 
-        //increment this y position
-        float targetPosition = xDrivePostion + -(float)moveState * Time.fixedDeltaTime * speed;
+            //increment this y position
+            float targetPosition = xDrivePostion + -(float)moveState * Time.fixedDeltaTime * speed;
 
-        //set joint Drive to new position
-        var drive = articulation.xDrive;
-        drive.target = targetPosition;
-        articulation.xDrive = drive;
+            //set joint Drive to new position
+            var drive = articulation.xDrive;
+            drive.target = targetPosition;
+            articulation.xDrive = drive;
+        }
     }
 }

README.md

@@ -87,6 +87,8 @@ We can mimic this in simulation by adding limits to our joints. To do this, chan
 
 # Gripper Demo
 
+Open the `GripperScene`.
+
 Manual Controls:
 ```
 G - down