[Zach Purser]

Originally Posted by nick_champ_2

I like it, though just through watching the video, you have the arm closing at the exact time that the bottom of the "gripper" touches the tube. This should be tried in a more realistic situation where the bot will drive past or push the tube while closing the "gripper". That way you can verify that the gripper will grasp the tube as it is being pushed away.

Or add a contact switch to the bottom of the gripper.