[Muhammad Faizan Ahmed]

Hi everyone,
I am working on a dual JAKA cobot project in RoboDK and have designed a custom two-finger gripper using RoboDK's Mechanism Builder. The gripper functions correctly and is attached to the robot as shown in the attached video.
However, I am facing an issue when using RoboDK's Attach to Tool and Detach from Tool instructions.
When the robot picks the needle, the attachment works as expected. However, during the release operation, when I execute the Detach from Tool instruction, RoboDK not only detaches the needle but also detaches the entire gripper mechanism from the robot.
The gripper was created using the Mechanism Builder and is saved/loaded as a mechanism (robot) rather than a standard tool. My current station tree and behavior can be seen in the attached video.
Could someone please help me understand:

1. Why is the gripper also being detached when I only want to release the needle?
   
2. Is my station tree structure correct for a custom gripper created using the Mechanism Builder?
   
3. Should the picked object be attached directly to the robot tool frame rather than becoming a child of the mechanism?
   
4. Is there a recommended way to implement object handover when using custom mechanism-based grippers?
   
5. Would using the RoboDK Python API (for example, setParentStatic) be a better approach than the built-in Attach/Detach instructions for this type of application?
   

The attached video shows the exact behavior. Any guidance on the correct station structure or object attachment method would be greatly appreciated.

Thank you.