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

Interface SelectableGripper

@ProviderType
public interface SelectableGripper

This interface represents an individual gripper in a multi-gripper device, i.e. a gripper device supporting the multi-gripper capability (see the MultiGripperSupport interface). The gripper is selectable by the end user when configuring a Gripper program node for a multi-gripper device.

Method Summary

Modifier and Type	Method and Description
String	getDisplayName() The name of the gripper displayed in the PolyScope UI, e.g.
String	getId() Get the unique identifier (id) for this gripper.
boolean	isResolvable() An individual gripper cannot be guaranteed to be present in PolyScope.

Method Detail

getId

String getId()

Get the unique identifier (id) for this gripper. This can be used to identify this specific gripper among the set of individual grippers available in a specific multi-gripper device.

Note that this id is not "globally" unique, but only unique for the individual grippers belonging to a specific multi-gripper device.

Returns:

The unique identifier of this gripper

getDisplayName

String getDisplayName()

The name of the gripper displayed in the PolyScope UI, e.g. in the Gripper toolbar and program node.

Note: This name must not be used to uniquely identify a specific individual gripper, since the name might be translated (depending on the selected language in PolyScope) or be changed between versions of the URCap that added the gripper.

Returns:

The name of this gripper displayed in PolyScope

isResolvable

boolean isResolvable()

An individual gripper cannot be guaranteed to be present in PolyScope. This method can be used to determine, if the gripper is present.

The gripper will not be present if the owning multi-gripper device has disabled that specific individual gripper.

Returns:

true, if this individual gripper is present in PolyScope, otherwise false.