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4.8 Control over Universal Robots with URCaps
The URCaps package contains many features to program and control the Gripper. The package provides:
: Gripper toolbar The Gripper toolbar is automatically installed with the URCaps package. It allows jogging and testing of the Gripper. It is a great
tool to try grasps with the Gripper while programming.
: Gripper node The URCaps package adds a Gripper node that is used to add a Gripper command. A node can make the Gripper move to a specific
opening, grasp an object and modify the speed and force applied by the Gripper.
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