UR: Example picking program

The following program is a simple, robobrain-based picking program for vacuum grippers. It uses the force-torque sensor to detect tool contact with the item to be picked.

A more advanced version of the picking program can be found in the following zip file. It uses multithreading to monitor the TCP position, vacuum level and tool contact simultaneously. The zip file also contains a script file which is needed for the execution of the program.