把持メカニズム — LOG92
FixedJoint 把持の仕組み
REACH_CUP → GRASP → REACH_PLACE → PLACE
REACH_CUP
→
GRASP
→
REACH_PLACE
→
PLACE
↺
Current State
REACH_CUP
dist to target
—
FixedJoint
null
graspThreshold
0.12 m
コード — 現在のステート
// REACH_CUP: EndEffector → HandlePoint に向かってCCD IK
if (dist <= graspThreshold && !isCooldown) {
currentState = State.
GRASP
;
}
▶ START
↺ RESET
speed: 1x