I am wanting to have my UR10 stop if a part is not grasped by the 2 finger adaptive gripper. Prior to installing URCaps the program went something like 

If rq_obj_detect=0
MoveJ waypoint
Pop up message 
Halt
This doesn't seem to work the same way with the URcaps upgrade? How can I accompolish this now?

@mertzga this will work but you need to correct a few things. The function is " rq_is_object_detected" and it will return either True or False, not 0 or 1.

Tell me if it works with this.

Sweet, Thanks! I will try that and let you know, :)

Sadly, when I enter it that way it throws a "compile error" stating, "rq_is_object_detected" is not defined" I put a variable in the before start sequence rq_is_...=False. With the same result. Thoughts?

@mertzga you need to have () when calling a function like ours. You also need to have the URCaps installed for that to work.

If you want to see the list of functions we provided, please check your instruction manual here: http://support.robotiq.com/display/2FIM/4.8.2+Gripper+Node

Funny you point me to instructions I was just doing that reading. Thanks.  :)

We use it quite a lot. In case you aren't aware all you need in the if statement is rq_is_object_detected(), you don't have to say equals to True for it to evaluate correctly.