Yes, this is possible. In the case of a single gripper, this is of course the only possibility, because only one set of fingers is mounted on it. In the case of a double gripper, the same fingers can be mounted on both gripper sides.
It sometimes happens that ‘the same’ fingers are used to remove processed parts, but with a softer material in order to treat the processed product as delicately as possible.
Read more about gripper fingers in our knowledge base article on this subject.