A vertical claw works better on cones as the shape fits the triangle ridged top and provides minimal horizontal movement when rotating past the same x coordinate as the pivot point but for downsides, it requires more precision and also requires some way to mount your motor sideways where it is longer.
A horizontal claw provides a larger margin of error when collecting the cone as you can push the cone a bit before grabbing but requires more length when stacking behind the pivot.
thoughts on pros/cons, which one is better for itz?
Vertical claw all the way in my opinion. They seem to allow easier and more consistent grabbing and better release when stacking. If paired with a good driver i think that they are the superior choice. Now for simplicity of use and not a much worse option horizontal claws are good but i think you will slowly see that takeover of rollers, vertical claws, and passives because they grab the cone from the top making the loader and releasing in general better and more consistent.
We’ve got horizontal and it’s much easier to control than a vertical and grabs cones consistently. Releasing used to be a bit of an issue but it’s all good now. I think as long as you design in well a horizontal claw is overall better.