diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index f2d54cf..ea24afe 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -74,6 +74,14 @@ class RobotTCP(TcpDevice, Stoppable):
     def get_arr(self, name, size):
         return self.execute('get_arr', name, size)
 
+    def get_trf(self, name):
+        return self.execute('get_trf', name)
+
+    def get_jnt(self, name):
+        return self.execute('get_jnt', name)
+
+    def get_pnt(self, name):
+        return self.execute('get_pnt', name)
 
     def get_int(self):
         return int(self.get_var("n"))
@@ -115,17 +123,7 @@ class RobotTCP(TcpDevice, Stoppable):
         return self.get_bool(self)
 
 
-    def get_emergency_stop_sts(self):
-        st = self.eval_int("esStatus()")        
-        if (st== 1): return "active"
-        if (st== 2): return "activated"
-        return "off"
-
-    def get_safety_fault_signal(self):
-        fault = eval_bool("safetyFault(s)")
-        if (fault):
-            return get_str("")            
-
+    #Robot control
         
     def is_powered(self):
         self.powered = self.eval_bool("isPowered()")
@@ -172,6 +170,18 @@ class RobotTCP(TcpDevice, Stoppable):
             self.working_mode = "invalid"
         return self.working_mode
 
+    def get_emergency_stop_sts(self):
+        st = self.eval_int("esStatus()")        
+        if (st== 1): return "active"
+        if (st== 2): return "activated"
+        return "off"
+
+    def get_safety_fault_signal(self):
+        fault = eval_bool("safetyFault(s)")
+        if (fault):
+            return get_str("")            
+        
+
     #Motion control
     def stop(self):
         self.evaluate("stopMove()")
@@ -200,7 +210,14 @@ class RobotTCP(TcpDevice, Stoppable):
         robot_tcp.evaluate("getJointForce(arr)")        
         return robot_tcp.get_float_arr(6)
 
+    #Tool
+    #This function can timeout since it synchronizes move. Better check state before
+    def open(self, tool):
+        return self.evaluate("open(" + tool + " )")
 
+    #This function can timeout since it synchronizes move. Better check state before
+    def close(self, tool):
+        return self.evaluate("close(" + tool + " )")
     
     #Updating
     def update_status(self):