Version 1 of the pool stick grip attachment. At the bottom is a hole to tighten a screw which allowed us to adjust how far the pool stick extended from the base of the sawyer end effector. Holes on the top allow it to be screwed into the sawyer end effector. 

Version 2 of the pool stick grip attachment.  Retains the same functionality as the previous version, with the added benefit of attaching a usb camera to the side. 

We added the USB camera to the sawyer to allow for a birds eye view of the pool table to allow for the ball's pose detection to work as we need a constant Z value throughout the pool table.