A couple of guys on our team created paper profiles of the tote lips, long and short, then cut them and combined them into a profile that closely resembles the hook on the Ri3D 1.0 robot. The paper profile was a good test fit for our tote. We then modeled it in SolidWorks. I attached a thumbnail image, and here is a link to a DWG if interested.
https://drive.google.com/file/d/0B1M...ew?usp=sharing