Lots of clients have been asking me if they can change the tips on the 2 finger grippers. In fact, many clients do so to have the gripper fit their parts perfectly when they are dealing with oddly shaped parts. This is super easy. In fact when we do testing on some clients parts at Robotiq we often 3D print our tips.

Here is a a link to the gripper's manual where you will find technical dimensions that you can use to create your own tips. 

Furthermore, here is a video showing how these can be changed.