Define tool as default

  • Hello,

    I am trying to control the KUKA LBR iiwa robot in torque command mode using the FRI, but I am having difficulty with gravity compensation due to the addition of a 1.2 kg gripper. I have created a new tool in Sunrise and can see it on the smartpad, but I am unsure of how to utilize it when controlling the robot through the FRI. Any assistance would be greatly appreciated.

    Thank you. -Max

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  • Hello,

    It been a while since I used FRI, but to include a Tool in your motion you need to do these steps:

    in the "import" section:

    import com.kuka.roboticsAPI.geometricModel.Tool;

    inside your Class variables' section:

     private Tool myTool;

    in initialize()

    myTool = getApplicationData().createFromTemplate("_gripper");

    Then in run() instead of using




    Hope this helps

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