[AlexD744]

Another option is to make the claw open up with a pin or something of the sort. Our claw is connected to a pneumatic actuator and so all we do is pull the pin out, open the claw, put the tube in and put the pin back in. Then in auto we wait a few seconds for the compressor to give us enough air clamp on the tube tightly and go. Don't know what your set up is, so I don't know if this could work for you, but it's a lot nicer than creating a program to pick up off the floor.