Robotiq 2F85 Clamp Pair in Sunrise Workbench

[dilysmoore]

Hi Everyone,

I am new to using PRC and I am using an iiwa 14 r820 via sunrise workbench. I have noticed there is a component for multi state tools and I am wondering how it works and if it possible to control the attached gripper (robotiq 2f85 gripper) through the commands exported from PRC or if I have to add code into the "run_xml.java" file in sunrise ?

Many thanks in advance.

[Johannes @ Robots in Architecture]

Hello,

The Multi-State Tool is mostly for visualization and some IO convenience. If the gripper has got its own library for operation, I would try to hack that into the Java file. So that rather then setting an output in an IOGroup, you toggle the gripper.

Best,
Johannes