I'm throwing this out to the world for solutions. Is there a way to turn off the auto exposure? The reason is that the parts we are trying to pick up are on a dark green background and the part resolution is being washed out. Is there an ability for the camera to detect spacing between parts? Is there a way to fine tune the gripper editing so that it doesn’t make large leaps in the percentile? When the grippers come into grab a part, what is the repeat ability of the part orientation when picking?