The pre-programmability of the motion also enables customizing the dual-origami two-finger gripping unit according to the object shape. As shown in Figure 15A, we built a two-finger gripping unit customized for box-shaped objects. Two stain-limiting layers at the bottom and middle modules were designed to be long (\(\Lambda\)= 0.531,  \(w\)= 6 mm) while the strain-limiting layer at the top module was designed to be short (\(\Lambda\)= 0.231,  \(w\)= 9 mm). Consequently, the two-finger gripping unit undergoes two-step motion of first widening the gripper opening significantly (from 68 mm to 215 mm) and then closing it moderately (Figure 15A).  In the demonstration of the soft gripper with the developed two-finger gripping units, the box-shaped objects with different sizes (width of 100 mm to 208 mm, Figure 15B) were picked and placed (Figure 15C, D, and Figure 16).