A robotic attacher includes a main arm that is suspended vertically from a rail, and a supplemental arm that is coupled to and extends horizontally from the main arm along a longitudinal axis. The supplemental arm includes a pivot assembly that pivots a gripping portion around a vertical axis that is substantially parallel to the main arm of the robotic attacher, in a direction transverse to the longitudinal direction of the supplemental arm, and between at least a maximum-left position, a maximum-right position, and a centered position. The pivot assembly includes a first actuator that extends and retracts a first cable coupled to a left side of the gripping portion in order to pivot the gripping portion. The pivot assembly further includes a second actuator that extends and retracts a second cable coupled to a right side of the gripping portion in order to pivot the gripping portion.