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

Interface GripActionParameters

@ProviderType
public interface GripActionParameters

This interface represents parameters for a gripping action defined/configured by the end user.

These parameters are used when generating script code for a gripping action (see GripperContribution.generateGripActionScript(ScriptWriter, GripActionParameters)).

Method Summary

Modifier and Type	Method and Description
Force	getForce() Get the selected force to be used the gripping action.
SelectableGripper	getGripperSelection() Get the gripper selected by the end user for the grip action.
Speed	getSpeed() Get the selected speed to be used for the gripping action.
Pressure	getVacuum() Get the selected vacuum level to be used for the gripping action.
Length	getWidth() Get the selected width to be used for the gripping action.
boolean	isGripDetectionEnabled() Use this method to determine whether the grip detection option in the Gripper program node is on or off.

Method Detail

getForce

Force getForce()

Get the selected force to be used the gripping action.

This is only valid, if the force capability has been registered (using the method GripperCapabilities.registerGrippingForceCapability(double, double, double, Force.Unit)).

Returns:

The force to use for the gripping action

Throws:

UnsupportedOperationException - if the gripper has not registered the force capability

getWidth

Length getWidth()

Get the selected width to be used for the gripping action.

This is only valid, if the width capability has been registered (using the method GripperCapabilities.registerWidthCapability(double, double, double, double, Length.Unit)).

Returns:

The width to use for the gripping action

Throws:

UnsupportedOperationException - if the gripper has not registered the width capability

getVacuum

Pressure getVacuum()

Get the selected vacuum level to be used for the gripping action.

This is only valid, if the vacuum capability has been registered (using the method GripperCapabilities.registerGrippingVacuumCapability(double, double, double, Pressure.Unit)).

Returns:

The vacuum level to use for the gripping action

Throws:

UnsupportedOperationException - if the gripper has not registered the vacuum capability

getSpeed

Speed getSpeed()

Get the selected speed to be used for the gripping action.

This is only valid, if the speed capability has been registered (using the method GripperCapabilities.registerSpeedCapability(double, double, double, double, Speed.Unit)).

Returns:

The speed to use for the gripping action

Throws:

UnsupportedOperationException - if the gripper has not registered the speed capability

getGripperSelection

SelectableGripper getGripperSelection()

Get the gripper selected by the end user for the grip action.

This is only valid if the contribution has registered the multi-gripper capability (see GripperCapabilities.registerMultiGripperCapability(GripperListProvider)).

Returns:

the selected gripper to use for the grip action

Throws:

UnsupportedOperationException - if the gripper contribution is not a multi-gripper

isGripDetectionEnabled

boolean isGripDetectionEnabled()

Use this method to determine whether the grip detection option in the Gripper program node is on or off.

Note that this method will report that grip detection is off, when script code is to be generated due to the user testing a grip configuration of a gripper program or operating the gripper using the toolbar.

This method should only be called, if the grip detected feedback capability has been registered (using GripperFeedbackCapabilities.registerGripDetectedCapability(ScriptCodeGenerator)).

The purpose of this method is to ensure that the appropriate script code for performing a grip action is generated when the end user has specified a new payload value. The user-defined payload value will be applied by PolyScope immediately after the generated grip action script code has finished executing. Depending on the enablement state of grip detection, the generated script should have the following properties:

• Grip detection off: The script code should not finish earlier than when it is appropriate to apply the new payload value (i.e. when the object has been gripped). This typically means that the script code should wait a time period corresponding to closing the gripper's "fingers" fully (if the gripper is vacuum operated then long enough to achieve some level of vacuum).
• Grip detection on: The payload will only be set if the grip detection was successful, i.e. it will be applied immediately after a grip was detected. This means that it is not necessary for the script code to wait (since the built-in detection timeout functionality will handle the waiting part).

Returns:

true if the end user has enabled grip detection, and false if grip detection is disabled.

Throws:

UnsupportedOperationException - if the gripper has not registered the grip detected feedback capability