there was alot of evolution in our gripper. We started off with 3 fingers, 2 on top 1 on bottom, then we went to 2 on top to 1 on bottom with the bottom having rollers, then we went to the roller on the bottom, then we went to 2 on the bottom an 1 on top, then we went to the same with different combiniations of rollers, and eventualy we ended up with our current one of 2 on top 2 on bottom with rollers on the bottom...
