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Hi @Colin
In section
6.1.2 and of the manual, you'll find all the information you need to create your own fingertips. 

Be sure to respect the following: 

Custom fingertip designs must abide by the following :

  • Fingertip must not exceed 100 mm in height from the fingertip's base.
  • Fingertip must not exceed 100 mm in width from the fingertip's base (refer to Y axis from Figure 6.2.2).
  • Refer to Section 6.2 to evaluate the grip force according to your fingertip design.
  • Applied forces to the gripper must not exceed moment and force limits detailed in Section 6.2.2.