Add parallel gripper

Create gripper geometry

1. Drag and drop the Gripper_Body.usd into the scene.
2. Create a cube via Create → Mesh → Cube.
3. Adjust the transform to form the first finger segment:

4. Create a second cube and apply:

5. Group both cubes into an Xform named Finger_R.
6. Duplicate it to create Finger_L and rotate it 180° on Z.

Configure rigid bodies and friction

1. Add rigid bodies with colliders to:

   • Gripper_Body
   • Finger_R
   • Finger_L

2. Create a physics material via Create → Physics → Physics Material.

3. Configure friction:

   • Dynamic friction: 0.8
   • Static friction: 0.8
   • Combine mode: Max

4. Assign the material to both fingers.

Proper friction settings prevent objects from slipping during gripping.

Create prismatic joints

1. Create a prismatic joint for each finger via Create → Physics → Joint → Prismatic Joint.

2. Configure the joint connections:

These joints allow linear motion of the fingers.

Configure linear drives

1. Add a linear drive to each prismatic joint via Add → Physics → Linear Drive.

2. Configure both drives:

The drives act as motors controlling finger movement.

Create action graph

1. Create an action graph via Create → Visual Scripting → Action Graph.

2. Add the following nodes:

   • On IO Change (Wandelbots)
   • Branch
   • Write Prim Attribute (4×)
   • Constant Float (2×)

3. Connect the logic:

   • IO Change → Branch (trigger + condition)
   • True → closing motion
   • False → opening motion

4. Define velocities:

   • Opening: 0.5
   • Closing: -0.5

5. Configure all Write Prim Attribute nodes:

The action graph enables IO-based control of opening and closing.

Test parallel gripper

Test the gripper by triggering the IO signal defined in the action graph. Verify that both fingers move symmetrically and grip objects securely.