gripper to pick an object

Hi,

I have a gripper (multibody) and I want to pick an object with it. The 
gripper has sliding jaws. The situation is such that the jaws of the 
gripper are on two sides of the object.  I want to slide the jaws in 
towards the object. Stop when they touch the surfaces of the object and 
beyond that the object should move along with the robot or the gripper 
(I think I should from a temporary joint between them for this). When 
the target location is reached, the object must be set down.

I think I have maximum problems with making the jaws slide in. Can 
someone guide me as to whether I should do this through vector 
manipulation or is there some other way of doing this?

thanks,
Mithila
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