com.ur.urcap.api.domain.device.gripper.capability

Interface MultiGripperSupport

All Superinterfaces:

CapabilitySupport

@ProviderType
public interface MultiGripperSupport
extends CapabilitySupport

This interface represents the support for multiple grippers provided by a multi-gripper device (a GripperDevice instance), i.e. a gripper device supporting the multi-gripper capability.

The interface provides information which can be used to configure the multi-gripper capability of a multi-gripper device used by a GripperNode. This includes access to the set of individual grippers (available in the multi-gripper device) which allows for selecting a specific gripper when creating a GripperNode configuration.

An instance of this interface can be acquired by calling the GripperDevice.getCapabilitySupport(Class) with the class of the MultiGripperSupport interface as argument. The returned MultiGripperSupport instance is wrapped in an Optional. Always use Optional.isPresent() to check if a specific gripper device is a multi-gripper (i.e. supports the multi-gripper capability) before accessing it using Optional.get().

Method Summary

Modifier and Type	Method and Description
List<SelectableGripper>	getSelectableGrippers() Get the set of individual grippers available in the multi-gripper device.

Method Detail

getSelectableGrippers

List<SelectableGripper> getSelectableGrippers()

Get the set of individual grippers available in the multi-gripper device. Note that this list of individual grippers is only applicable for a specific multi-gripper device.

The returned list can be used to select a gripper when creating a configuration for a GripperNode with the GripActionConfigBuilder or ReleaseActionConfigBuilder interface.

Note that the content of the returned gripper list is not necessarily static, since the gripper device has the option of enabling and disabling the individual grippers dynamically. Therefore always get an updated list before using it to configure a GripperNode.

Returns:

A list of the individual grippers available in the multi-gripper device. Note that this list is only applicable for a specific multi-gripper device.