Does it necessarily have to be a two finger gripper?

[Booooooosh]

In the demo it is a two finger gripper and in the paper it also uses the two-finger gripper as a illustration. So does that mean the agile_grasp package works only for a two-finger gripper? What if I want to use a suction pad to perform the grasp, can I still use this package?

Many thanks!

[atenpas]

Sorry for my late reply.

It works as long as the robot hand can perform a 2-finger grasp in which both fingers move along a line (this is the motion that a two-finger gripper executes). Many multi-fingered hands can perform such a grasp.

For suction pads, I would guess you could use this package as a prior, but I've no experience with it.