CoppeliaSim forums

Hello Coppelia,

I found that lots of grippers fingertip has two parts: the first one is the fingertip itself, and the second part is the fingertip visible part under the first part. The first part is the pure shape, and the second part is the simple random shape. What's the point of this structure? Which part can I modify and in what way my modification won't affect the grasping effect?
Thank you!

Visual parts are more detailed.

Dynamic parts are simplified representations of the visual part, which are more stable in simulation (because are pure, or at least convex) and compute faster, with only a minimal representation error with respect to the visual counterpart.

See also: Building a clean model tutorial