Thanks for you reaction buth the poblem is that between 2 and 3, i can't follow the height difference on the top side of the part.
some of the parts that have to be picked have a thickness of 8mm and the height difference can be more than that
Also, there is no information about the part underneath, so the next can be bigger than the one i have to measure. So it is important to stay on the part as much as possible to let the robot follow the height difference tom make a difference between the slope and the edge.
Foto is not 8mm parts but gives an idea what has to be processed