[Muhammad Faizan Ahmed]

Hi everyone,
I'm currently working on a dual-cobot synchronization task in RoboDK where two collaborative robots need to pass a needle to each other through a narrow opening. The robots are JAKA cobots.
I have already imported both robots, created the cell layout, and modeled the narrow opening through which the needle must be transferred.
For the gripper, I am using an RG6 gripper and added custom two-finger functionality. However, I have a few questions regarding the setup:

1. When I import the RG6 gripper, RoboDK imports it as a robot rather than as a tool. Is there a recommended way to correctly configure an imported gripper as an end-effector/tool?
   
2. To work around this, I attached the tool frame to the robot flange and then made the imported gripper (which appears as a robot) a child of that tool frame. Is this the correct approach, or is there a better method?
   
3. During the handover operation, when I detach the needle from the gripper using Attach/Detach instructions, RoboDK also detaches the gripper itself from the robot. I only want the needle to be released while the gripper remains attached to the robot. How should I structure the station tree or attachment setup to achieve this correctly?
   

Any guidance, examples, or recommendations for robot-to-robot handover simulations would be greatly appreciated.
Thank you!