IRB 340 tooling + camera [PickMaster 3]

Not sure if I am posting in the right part of the forum, but i have started a new project with a 340 and am trying to learn as much as possible, about it and pick-master software.

I have two questions for now:

1. I am looking at getting a new tooling bit that is able to pick up a brittle chocolate bar that has just come out from a chocolate coating. The bar size is approx LxWxH 170mmX35mmx35mm
I am looking at two spikes that will inject into the chocolate and pick it up then have a solid block run down the spikes and push the chocolate off (it’s rejected chocolate)
the other method is would be a 3 prong claw approach. Is there somewhere where i can look at current designs? or are there any other recommendations?

2. We are also looking at upgrading the current camera’s to more HD camera’s that will be able to take two calculations and determine the size of the chocolate bar and then rejecting the item.

I was just wondering where i could find a current catalogue for appropriate cameras?

Any feed back would be lovely
Best Regards!

For the tooling, I don’t know who to contact.

What kind of camera do you have know?
What is your region of interest?
What kind of resolution no you need, in terms of how may pixels per millimeter?
Are you planning to use a blob area limit as an inspection model?

/Mats