Hello,

I have a couple of questions on gripper tool.

How to correctly process collision of a gripper tool with an object? I tried to do that the same way as in example 13-primitives, but changed cToolCursor to cToolGripper, and in the updateHaptics method I changed tool->m_hapticPoint to tool->m_hapticFinger. As a result, when I release the gripper, both haptic points of the gripper jump away.

Is it possible to create a custom gripper tool that would look like two square plates? Sort of this www.myduino.com/image/cache/Gripper-500x500.jpg

I would appreciate to see any working example of cToolGripper. Thank you!

One suggestion would be to extend the gripper tool (cToolGripper) to incorporate 4 contact points at each corner of the gripper facets. All you would need to do is extend the class so that when the gripper is controlled by the user, all 8 contact point are updated accordingly. The forces produced at the contact points would be added together to produce a force and torque to be sent to the haptic device.

(Y)