com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration

Interface GripActionConfig

All Superinterfaces:

GripperNodeConfig

@ProviderType
public interface GripActionConfig
extends GripperNodeConfig

This interface represents a Gripper node configuration for a grip action.

Since:

1.9.0

Nested Class Summary

Nested classes/interfaces inherited from interface com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration.GripperNodeConfig

GripperNodeConfig.ConfigType

Method Summary

Modifier and Type	Method and Description
Optional<SelectableGripper>	getGripperSelection() This method returns the individual gripper selected (if any is selected) in a Gripper node that uses a multi-gripper device, i.e.
Optional<PayloadSetting>	getPayloadSetting() This method returns the configuration of the payload setting for a Gripper node.
boolean	isForMultiGripper() Determine if this configuration is a multi-gripper configuration.

Methods inherited from interface com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration.GripperNodeConfig

getConfigType

Method Detail

isForMultiGripper

boolean isForMultiGripper()

Determine if this configuration is a multi-gripper configuration. This will be the case, if the config was created for, or retrieved from, a Gripper node that uses a multi-gripper device, i.e. a gripper device supporting the multi-gripper capability (see the MultiGripperSupport interface).

This method can used to determine if:

• The configuration can be applied to a Gripper node which uses a single gripper device. Note that an exception will be thrown, if a multi-gripper configuration is applied to a Gripper node using a single gripper device.
• The getGripperSelection() method can be used to retrieve a (valid) gripper selection (which can be empty). Note that, if calling the Optional.isPresent() method on the retrieved Optional instance returns false, it can both indicate that the configuration is for a single gripper (not supporting the multi-gripper capability) as well as indicate that no gripper has been selected (an empty gripper selection).

Returns:

true if this configuration is a multi-gripper configuration, otherwise false

Since:

1.11.0

getGripperSelection

Optional<SelectableGripper> getGripperSelection()

This method returns the individual gripper selected (if any is selected) in a Gripper node that uses a multi-gripper device, i.e. a gripper device supporting the multi-gripper capability (see the MultiGripperSupport interface).

Note: This method is not relevant for a Gripper node using a single gripper device. The isForMultiGripper() method can be used to determine, if this configuration is for a multi-gripper device.

Returns:

The individual gripper selection wrapped in an Optional. Use Optional.isPresent() to check, if a gripper has been selected. The gripper selection can be retrieved using Optional.get(). Note that Optional.isPresent() will also return false, if this configuration was created for a single gripper. isForMultiGripper() can be used to check if this configuration is for a multi-gripper device.

Since:

1.11.0

getPayloadSetting

Optional<PayloadSetting> getPayloadSetting()

This method returns the configuration of the payload setting for a Gripper node.

It is not mandatory to configure the Gripper node to apply a payload after the grip action has finished executing and the payload setting can thus be disabled/enabled. The configuration of the payload setting will not be available here if the payload setting is disabled in the Gripper node. Therefore the returned payload setting is wrapped in an Optional, whose Optional.isPresent() method must always be used to check if the payload setting is enabled before accessing it using Optional.get().

Returns:

The payload setting wrapped in an Optional. Use Optional.isPresent() to check, if the payload setting is enabled (since this is an optional setting). The payload setting can then be retrieved using Optional.get().

Since:

1.13.0