Anyone comparing two-finger vs three-finger grippers for pure throughput tasks?

[karen_kim]

@james15 Small correction on one detail: Wet, oily, or otherwise low-friction objects are still a genuine edge case for most current hands, since tactile sensing and grasp-force controllers are typically tuned and validated on dry, higher-friction test objects. Grasp planning for deformable or non-rigid objects (bags, cables, cloth) remains one of the genuinely unsolved problems in manipulation - rigid-body grasp models simply don't capture how the object will behave once contact starts.