1. A method of calibrating a position of an article relative to an end effector of a robot, comprising: providing a robotic component having the end effector with end effector fingers and a light beam sensor provided in a fixed orientation to the end effector fingers; providing a teach tool at an approximately known location on the article within a work envelope reachable by the end effector, the teach tool having a geometrical calibration feature; positioning the end effector with the light beam sensor at a first location proximate to the geometrical calibration feature; rotating the end effector and sensing with the light beam sensor a first engagement edge of the geometrical calibration feature of the teach tool; and rotating the end effector and sensing with the light beam sensor a second engagement edge of the geometrical calibration feature of the teach tool.