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How does a cobot grab and lift a bar from one side?

Thanks for your quick and appropriate reply

I have a light wooden bar and I want my cobot to grab it on one side and lift it. Is this possible in the RoboDK environment?
Yes, absolutely. 

You can use a simulation event instruction, that allows you to attach objects to the robot's gripper.

You can find more info below the links:
Simulation event
RoboDK Pro Training - Module 03 - 02 - Pick and Place - Attach and Detach Object - Tutorial

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