The final version of the 6-axis robot arm will (highly probably) be equipped with a pneumatic grabber. Two advantages: 1) you don't need to compensate for closing/opening the grabber when rotating other parts of the arm and 2) the weight is much less (you can skip one motor in this part of the arm).
The grabber can grab a candy container rather firm.
![](https://s2.save4k.ru/pic/fjCl2_2nCXA/maxresdefault.jpg)