
\subsection{Overview}

The {\tt \modelName} model simulates the ActivMedia Pioneer2 Gripper. Every object in the world that can be picked up by a gripper must set the {\bf $<$canBeGrip$>$} to true.

\subsection{\libgazebo Interfaces}

{\tt \modelName} supports the \libgazebo {\tt gripper} interface.


\subsection{Player Drivers}

Control of the gripper position is available through the
{\tt gz\_gripper} driver.


\subsection{World File Attributes}

{\tt \modelName} models can be instantiated using the
\verb+<model:Pioneer2Gripper>+ tag.  The following attributes are
supported.

\begin{xmlattrtable}{model}{\modelName}
\modeldefaults
\end{xmlattrtable}

\subsection{Body Attributes}

The following bodies are used by this model.

\begin{bodyattrtable}
\bodydefaults
\bodyattr{baseBarBody}{single}{Stationary support bar}
\bodyattr{leftGripperBody}{single}{Left gripper}
\bodyattr{rightGripperBody}{single}{Right gripper}
\end{bodyattrtable}

