Please elaborate a little more on the gripper. Does it have suction cups or clamps? Can you upload an image of it?
Hi, This are the 2 EAOT, the Gripper and vacuum
It looks to me like that cylinder extends and retracts both sides at the same time. Is that correct? Generally, it is undesirable to teach a tcp to something that moves. However, sometimes there is no choice, as it seems here. Just choose one of the gripper details and teach it while open. That way you can reorient around it to teach your pick and drop. In some rare cases, I have taught an imaginary center of the gripper. In this case you could just put tape, a piece of cardboard, or maybe even the part it picks with a center point marked.
You are welcome
