A method for teaching an industrial robot (3) to pick parts (120, 122) comprises the steps of: placing a reference part (7) on a picking surface (2); providing a reference image comprising information about the reference part (7); placing a gripping tool (5) of the industrial robot (3) in relation to the reference part (7) so that the gripping tool (5) is in a grasp configuration in relation to the reference part (7); and storing the grasp configuration. The reference image is a 2D image from below. When the reference part (7) is resting on a known plane a 2D image taken from below is enough for defining the position of the same.