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

Interface Summary

Interface	Description
GripperList	This is the unmodifiable list of individual grippers available in a multi-gripper device.
GripperListBuilder	This interface is used for creating the list of individual grippers/zones available in a multi-gripper device, i.e.
GripperListProvider	This interface must be implemented by the gripper URCap to register the multi-gripper capability.
RegisteredCapabilities	Each of the individual grippers/zones available in a multi-gripper device supports all capabilities that has been registered, i.e.

Exception Summary

Exception	Description
DuplicateGripperID	This exception is thrown when an attempt is made to add a new gripper/zone to the list of individual grippers/zones with an identifier, which is already used by a previously added gripper/zone.
DuplicateGripperName	This exception is thrown when an attempt is made to add a new gripper/zone to the list of individual grippers/zones with a name, which is already used by a previously added gripper/zone.
LessThanTwoGrippers	This exception is thrown by GripperListBuilder.buildList(), if an attempt is made to build the list of individual grippers/zones when less than two grippers/zones have been added.