A system comprising a robotic arm (12), a plurality of grabbers (16a, 16b), a sensor (14), and a preparation cup (18). The robotic arm has a first end and a recessed portion (20). The 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 (100) having a body portion (104), a first extended portion (102a), and a second extended portion (102b). The body portion is coupled to a portion of the preparation cup, the first extended portion extends in a first direction and the second extended portion extends in a second direction. The wings are operable to be magnetically coupled to the plurality of grabbers via the first and second extended portions.
