ur-kotlin/com.wolfscowl.ur_client.interfaces.tool/OnRobotTFG

OnRobotTFG

interface OnRobotTFG : URTool

Properties

abstract val model: String

Functions

abstract fun gripExt(width: Double, force: Int, speed: Int, cmdTimeout: Long? = null, popupMsg: Boolean = true, onChange: (TFGToolState) -> Unit? = null, onFinished: (TFGToolState) -> Unit? = null): TFGToolState

External gripping: close the 2FG gripper around an object from the outside.

abstract fun gripInt(width: Double, force: Int, speed: Int, cmdTimeout: Long? = null, popupMsg: Boolean = true, onChange: (TFGToolState) -> Unit? = null, onFinished: (TFGToolState) -> Unit? = null): TFGToolState

Internal gripping: open the gripper 2FG to grip an object from the inside.

abstract fun releaseExt(width: Double, force: Int, speed: Int, cmdTimeout: Long? = null, popupMsg: Boolean = true, onChange: (TFGToolState) -> Unit? = null, onFinished: (TFGToolState) -> Unit? = null): TFGToolState

External release: open the gripper 2FG to release an object held from the outside.

abstract fun releaseInt(width: Double, force: Int, speed: Int, cmdTimeout: Long? = null, popupMsg: Boolean = true, onChange: (TFGToolState) -> Unit? = null, onFinished: (TFGToolState) -> Unit? = null): TFGToolState

Internal release: close the 2FG gripper to release an object held from the inside.