The gripper beaks can take the shape of the object they hold, like in this case an orange!

Printing it is pretty self explanatory, or watch the short:

3D Printed Flexible Gripper https://youtube.com/shorts/1ziQGQiweF8?feature=share

edit: Just to clarify this is not a remix of https://www.printables.com/model/118880-flexy-pliers-print-in-place-toy even though I will admid it is very similar! But I started this project just trying to print something I saw from festo and very quickly realized I had to create little hinges or it would not work.

EDIT 23/02/2023: added clamps with a texture for extra grip