Hello. I've been playing around with a UR5 and dual Hand-E grippers for a pick and place application. The previous engineer wrote the program without setting TCP's nor the CoG. Everything seems to work.We added custom fingers 7" long (~18cm). They protrude in all 3 axes. It looks like Wolverine in action. Crude drawing attached...I have the fingers opposed because they get in the way at certain stations when on same side. Question is...will setting TCP's prevent the robot from hitting the fingers against itself? Basically, will the robot know that the fingers are way out there and automatically move in such a way that prevents the fingers from hitting the robot arm? Or is that not one of the functions of setting TCP's? It's a pick and place application with 7 stations and full 360° movement in no particular order. I'm a week on the project so will have more questions I'm sure.