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If you look in the config folder in the pr2_gripper_grasp_planner_cluster package, you can see the config files I made for the Schunk hand and for the RobotIQ hand (as well as the one for the PR2). If you want to use the cluster planner, you just have to make one for your hand--it specifies axis-aligned boxes (relative to the frame you want the pose for when defining a grasp in the world, which for the PR2 is the wrist roll link frame) that denote spaces where there shouldn't be any points (because your hand takes up that space) and space where there should be points (because that means there's something inside your hand). And a few other params whose explanation is in the code. (Sorry there isn't better documentation. If you need help with that, just email.)