-- ON OFFfunction suctionCupCmdcommand modelBase=simgetObjectAssociatedWithScriptsimhandle_self modelName=simgetObjectNamemodelBase ifcommand==on then simsetIntegerSignalmodelName _suc

This is a Lua script for a robotic arm system that uses suction cups to pick up objects and move them to a designated location. The system also interacts with Pioneer robots to transport the objects to their final destination. The script includes functions to turn the suction cups on and off, and to enable and disable inverse kinematics. The script uses RML vectors to control the velocity, acceleration, and jerk of the arm movements. The system also reads data from a vision sensor and uses proximity sensors to determine object size and location. The script waits for signals to initiate and complete tasks, and uses loops to iterate through multiple objects and Pioneer robots