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

Interface GripperRegistrationConfiguration

@ProviderType
public interface GripperRegistrationConfiguration

This interface represents the registration of a conformant gripper device. It is returned when a program node contribution is registered as a conformant gripper by calling GripperRegistrationManager.registerAsGripper(Class).

Through this interface, it is possible to register any additional capabilities supported by the gripper besides basic simple grip and release actions, such as force gripping and support for multiple individual grippers. This will enable other program node contributions (for example contributed by other 3rd party URCaps) to configure the parameters of each of the registered capabilities when creating GripperNode configurations for the corresponding program node contribution (which is registered as a conformant PolyScope gripper device).

Note: All supported capabilities must be registered once upfront, and all registrations must occur within the scope of the call to either SwingProgramNodeService.configureContribution(ContributionConfiguration) (for Swing-based URCaps) or ProgramNodeServiceConfigurable.configureContribution(ProgramNodeConfiguration) (for HTML-based URCaps).

Method Summary

Modifier and Type	Method and Description
GripperCapabilities	getGripperCapabilities() Access an interface that can be used for registering various capabilities supported by the gripper, such as force gripping and support for multiple individual grippers.

Method Detail

getGripperCapabilities

GripperCapabilities getGripperCapabilities()

Access an interface that can be used for registering various capabilities supported by the gripper, such as force gripping and support for multiple individual grippers.

Note: All capabilities must be registered once upfront, and these one-time registrations must all occur within the scope of the call to either SwingProgramNodeService.configureContribution(ContributionConfiguration) (for Swing-based URCaps) or ProgramNodeServiceConfigurable.configureContribution(ProgramNodeConfiguration) (for HTML-based URCaps).

Returns:

An interface for registering various capabilities of the gripper