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Lock objects / Prevent specific objects from being picked up with simulation command

Is there a way to lock specific objects from being attached to the tool when using the simulation instruction? It's rather annoying that other objects, such as a table or tray, gets picked up when the actual desired object is not present?

Is there a work around for this?
Hi jccourtney, 

One of the things you can do is to reduce the maximum distance to attach an object to the robot.  
See picture below. 


Have a good day. 

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