We are trying to make our Cobot open and close a Robotiq gripper 2 times while it moves from one waypoint to another. The cobot needs to drop a sticky part that sometimes sticks on the fingers, which causes a collision when it goes to grab another part.
You can create a background process that monitors for a var to go true and then cycles the gripper. Set the var to true before you start the move (you can add a delay timer to the background process if necessary). I would then pass it by a sensor to test for the sticky part remaining (or drive it through a stripper / scraper). Have the process turn the Var off after cycling the gripper.
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