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The probabilistic planner is actually not a stand-alone planner - what it does is aggregate suggestions from other planners in a smart way. So if you have no planners for your gripper yet, it would not be the right place to start.
What does your hand look like? If it's at all gripper-like (or has a finger configuration that can be made to resemble a gripper), an adaptation of the PR2 Cluster Planner is definitely doable.
Installing the database on your system and hand-saving a few grasps in it should also be a few hours or maybe a day's worth of work.
Also note that the grasping pipeline relies on a lot of underlying software, in particular in terms of perception and arm navigation for operation. Are you also bringing up those components on your robot?
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