CTR with gripper at the third tube tip

[accuracy-maker]

Hi Community,

Recently I want to write a simulation which is about controlling a CTR with a little gripper at the third tube tip to pick up something and place. The issue is that I don't know how to combine a CTR with gripper and control the pose of it properly.

What I can do now:

1. Implement the CTR correctly using BeamAdapter Plugin
2. Find the similar scene from Sofa_Env
3. There is a rigid gripper: a shaft and two jaws in Sofa_Env.

My case is a soft object plus a rigid gripper or jaws.

Could anyone provide some advice to write the correct simulation for this?

Best,