ObjectPicker

This device will attach to the vehicle any object that is close enough to it. It can be used to simulate grasps using it in the end effector tool of a robotic arm.

XML syntax

Object pickers require the same tags as rangeSensors: name, relativeTo and range.

• name: This parameters sets the device name that will identify it.
• relativeTo: The name of the vehicle's link where the device is attached.
• range: Maximum distance of the object picker. If an obstacle is closer to this distance it will automatically get attached to the vehicle.
• position: Initial position of the device with respect to the vehicle's link.
• orientation: Initial rotation of the device with respect to the vehicle's link, stated in RPY.