Im just trying to learn different how to program my UR5 different ways and one way i thought of was having 2 end effectors. Now the robot is currently in a lab and i dont have any grippers or vacuums on it, but what i am using is just a plate bolted to the robot with 2- 4" bolts coming out of it. So basically what im trying to do is, I have 4 nuts on the table i want to pick up a nut spin the head around and pick up the other one , then move to another location set the nut down (if it were putting it into a machine) wait a couple seconds then go back pick up (finished) nut then rotate the head and place other nut and continue on with the program. Ive seen videos out on the internet showing this process but Im having a tough time figuring out on how to do so. I started the program with a pallet wizard but im not sure how to go about rotating the head to pick up part 2 with the second bolt.