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It should be possible to create a "grab-scaling" script/node that can be attached as a child of an XRToolsPickable node which:
Subscribes to the XRToolsPickable.grabbed and XRToolsPickable.released script
Interrogate the XRToolsPickable._grab_driver to see if its being held by two hands
Scales by the distance between the two hands
If that works then we'd probably want to expose an XRToolsPickable.get_grab_driver() method rather than having the script reach in to the private _grab_driver field.
the ability to scale an object with a hand interaction would really help for ux development
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