# Grasping Robot Scene
------------------------
This scene demonstrates a robot which can be controlled using a GamePad or keyboard

The InputAction asset using the new Input system can be used to redefine the binding for the Robot control.

Basically the robot is controlled using a _kinematic_ rigid body attached to the upper part of the robotic arm.
The lower part is controlled using 4 different constraints:

GraspingRobotHinge2, GraspingRobotHinge3 controls the rotation of the lower part of the arm.

Another Hinge (GraspingRobotWristHinge) controls the twist of the wrist.
Finally  a prismatic constraints (GraspingRobotGripPrismatic) controls the grasping movement.

The scene consists of a set of different objects that can be manipulated.

Focus in this scene is to illustrate the robus frictional contacts using the _DIRECT_ friction solver.
Notice the ContactMaterial that specifies FrictionModel using the DIRECT solver specification.

Due to the small objects, the simulation is run in 100hz.

## Control the robot

### Gamepad (XBox360)
- Right Stick Y     - Moves the robot arm up/down
- Left Stick X      - Move the robot arm left/right
- Left Stick Y      - Move The robot arm in/out (from the base)
- D-Pad (X/Y)       - Controls the lower hinges which move the lower part of the robotic arm.
- Button A/B        - Open/Close Yaw  
- Right/Left Bumper - Rotate wrist left/right


### Keyboard
- PageUp/Down   - Moves the robot arm up/down
- Left/Right    - Move the robot arm left/right
- Up/Down       - Move The robot arm in/out (from the base)
- W/S/A/D       - Controls the lower hinges which move the lower part of the robotic arm.
- Z/C           - Open/Close Yaws
- E/Q           - Rotate wrist left/right
