I would say that's exactly not the solution, since the surface area is too large to hard code (which is somewhat the point of this). Evidence being, it's 2026 and there are exactly 0 robots that can do this simple task reliably, in any kitchen you put it in.

You need something general and flexible, dare I say "intelligent", or you'll be babysitting the automation, slowly adding the thousand little corner cases that you find, to your hard coded decision tree.

This is also why every company with a home service robot, that can do anything even remotely complex as a sandwich, are doing it via teleoperation.