"Decision Tree - Multiple Target Column"

Hey,

I´m a german student and on a study research for automated selection of grippers according to input-properties of objects. I want to use a decision tree.

The problem is that there are more than one possible gripping principles for an object. For example, a cube can be gripped by clamping and suction grippers. Is it possible to use more than one target column in training data or how can solve the problem?

Thanks for Your help!