Robotics are used in various industries to increase efficiencies. When using robotics in the dairy industry, it can be advantageous to position the laser sensor so that it scans the area immediately above the preparation cup or milking cup when the cup is coupled to the robotic arm. In this manner, the laser can scan the area immediately above the preparation cup or milking cup as the robotic arm is moving toward the dairy livestock udder to determine if a teat is present in that area. One drawback of such a configuration is that when the laser is positioned on top of the robotic arm, and the robotic arm moves toward the dairy livestock udder, the sensor is likely to collide with the livestock udder or other parts of the livestock’s body. This can startle or injure the livestock. In some instances, the livestock may jolt and hit the robotic arm causing the preparation or milking cup to detach from the robotic arm. The livestock’s movement may also cause the sensor to incorrectly detect that a teat is present at a certain location when, in fact, the livestock’s movement has caused the teat to move to a different location. This can be highly inefficient as a user or the robotic arm may need to find a way to reattach the preparation or milking cup to the robotic arm or relocate the dairy livestock’s teat and restart the entire teat preparation or milking process again. The present invention is a system comprising a robotic arm, first and second grabbers, a sensor, and a preparation cup. The robotic arm has a first end and a recessed portion. The first and second grabbers are coupled to the robotic arm at the first end. The sensor is positioned inside the recessed portion of the robotic arm at a first distance from the first end and at a first angle. The preparation cup is coupled to wings having a body portion, a first extended portion, and a second extended portion. The body portion is coupled to a portion of the preparation cup, the first extended portion extends in
