com.ur.urcap.api.contribution.driver.gripper.capability

Interface MultiGripperCapability

public interface MultiGripperCapability

This interface represents a registered multi-gripper capability for a gripper which supports multiple individual grippers/zones.

After the capability has been registered, this interface provides various functionality such as:

• The ability to disable and enable each of the individual grippers
• Access to all (other) registered capabilities, such as the width capability (see WidthCapability), speed capability (see SpeedCapability), etc, to dynamically adjust their properties (including the value range and default values) exclusively for a specific gripper (independently of the other grippers).
• Access to the list of individual grippers

Method Summary

Modifier and Type	Method and Description
RegisteredCapabilities	getRegisteredCapabilities(SelectableGripper gripper) Get access to all (other) registered capabilities, such as the width capability (see WidthCapability), etc., to dynamically adjust their properties (including the value range and default values) exclusively for the specified gripper/zone (independently of the other grippers).
List<SelectableGripper>	getSelectableGrippers() Get the list of supported individual grippers/zones added when the multi-gripper capability was registered.
boolean	isEnabled(SelectableGripper gripper) Determine if the specified individual gripper is enabled.
void	setEnabled(SelectableGripper gripper, boolean enabled) Enable or disable the specified individual gripper.

Method Detail

getSelectableGrippers

List<SelectableGripper> getSelectableGrippers()

Get the list of supported individual grippers/zones added when the multi-gripper capability was registered.

Returns:

The list of supported individual grippers/zones

isEnabled

boolean isEnabled(SelectableGripper gripper)

Determine if the specified individual gripper is enabled.

Parameters:

gripper - The individual gripper for which to check the enabled state, not null

Returns:

true if the gripper is enabled, otherwise false

Throws:

IllegalArgumentException - if this contribution is not the owner of the individual gripper, i.e. the specified gripper was not added by this URCap.

setEnabled

void setEnabled(SelectableGripper gripper,
                boolean enabled)

Enable or disable the specified individual gripper.

The disable/enable functionality can be used, if the gripper URCap is meant to support both a use case with only a single gripper as well as supporting the option of mounting several separate, identical grippers on the robot at the same time (e.g. using on a special mounting bracket). In this case, the secondary gripper(s) can be created in an initial disabled state, and then enabled when the end user is using a multi-gripper setup. If the URCap is implementing the GripperContribution interface, control of the enablement of the added grippers can be handled using custom user input(s) (see the CustomUserInputConfiguration interface).

Note: It is not necessary to use the enable/disable functionality, if the multi-gripper is physically constructed in a way where it is logically partitioned in multiple zones/grippers "built into" the gripping device. In this case, all grippers should be in created in an initial enabled state and always remain enabled.

Disabling a gripper will have the following effects:

• The gripper will not be available (nor visible) in PolyScope, i.e. the end user will not be able to select it in the Gripper toolbar and program node. This only applies to URCaps implementing the GripperContribution interface.
• If a TCP has been added for the gripper (using the instance returned by SystemConfiguration.getTCPConfiguration(SelectableGripper)), it will not be available (nor visible) in PolyScope to the end user. This only applies to URCaps implementing the GripperContribution interface. Any existing selection of the disabled TCP will become unresolved and will be displayed accordingly in combo boxes in PolyScope.
• Any existing selection of the disabled gripper will become unresolved and will be displayed accordingly in combo boxes in PolyScope, e.g. in the Gripper toolbar and program node as well as in other 3rd party contributions.
• The gripper will not be accessible to other contributions (for example contributed by other 3rd party URCaps), i.e. it will not be included in the list returned by MultiGripperSupport.getSelectableGrippers(). The gripper will, however, still be included in the list returned by getSelectableGrippers().
• The return value of SelectableGripper.isResolvable() will reflect the disabled state (return false) for any SelectableGripper instance representing the disabled gripper

All these effects will be reverted when the gripper is enabled again.

Parameters:

gripper - The individual gripper to enable or disable, not null

enabled - Indicates whether to enable/disable the specified gripper. true to enable, false to disable.

Throws:

IllegalArgumentException - if this contribution is not the owner of the individual gripper, i.e. the specified gripper was not added by this URCap.

getRegisteredCapabilities

RegisteredCapabilities getRegisteredCapabilities(SelectableGripper gripper)

Get access to all (other) registered capabilities, such as the width capability (see WidthCapability), etc., to dynamically adjust their properties (including the value range and default values) exclusively for the specified gripper/zone (independently of the other grippers). This is typically not applicable for most grippers, but can be relevant when the range depends on another custom gripper setting (which can be configured by the user).

Each capability must be registered using the GripperCapabilities interface (when GripperContribution.configureGripper(GripperConfiguration, GripperAPIProvider) is called) before they can be accessed using this method.

Parameters:

gripper - The individual gripper/zone for which to get an interface providing access to the registered capabilities

Returns:

An interface providing access to all registered capabilities

Throws:

IllegalArgumentException - if this contribution is not the owner of the individual gripper/zone, i.e. the specified gripper was not added by this URCap.