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

Interface GripperDevice

All Superinterfaces:

Device

@ProviderType
public interface GripperDevice
extends Device

This interface represents a gripper device in PolyScope.

Since:

1.9.0

Method Summary

Modifier and Type	Method and Description
<T extends CapabilitySupport> Optional<T>	getCapabilitySupport(Class<T> capabilitySupport) Get information about the support (provided by the gripper device) for a specific capability.
URCapInfo	getContributorInfo() Get information about the URCap that added/contributed this gripper device to PolyScope.
boolean	isResolvable() A device cannot be guaranteed to be present in PolyScope.

Method Detail

getContributorInfo

URCapInfo getContributorInfo()

Get information about the URCap that added/contributed this gripper device to PolyScope.

Returns:

URCap information for this gripper device

isResolvable

boolean isResolvable()

A device cannot be guaranteed to be present in PolyScope. A device will not be present if the URCap that added the device is not installed. This method can be used to determine, if the device is present.

Returns:

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

getCapabilitySupport

<T extends CapabilitySupport> Optional<T> getCapabilitySupport(Class<T> capabilitySupport)

Get information about the support (provided by the gripper device) for a specific capability. This information can be used to configure the supported capability when creating a configuration for a Gripper node (a GripperNode instance) with the GripActionConfigBuilder or ReleaseActionConfigBuilder interface. The method can also be used just to check if the device supports a specific capability (for instance to determine how to configure the gripper device or to help decide which gripper device to select based on its capabilities).

The various grippers available in Polyscope can support different sets of capabilities ranging from a very basic gripper, which does not provide any additional capabilities (besides basic simple grip and release actions), to a more advanced gripper supporting several capabilities. Therefore the returned capability support instance is wrapped in an Optional. Always use Optional.isPresent() to check if the specific gripper device supports the specified capability before accessing it using Optional.get().

Code example:
Here is an example of how to get the list of individual grippers available in a multi-gripper device. The returned list can be used to select a specific gripper when creating a GripperNode configuration.

 
   Optional<MultiGripperSupport> support = gripperDevice.getCapabilitySupport(MultiGripperSupport.class);
   if (support.isPresent()) {
      MultiGripperSupport multiGripperSupport = support.get();
      List<SelectableGripper> selectableGrippers = multiGripperSupport.getSelectableGrippers();
      ...
   }
 
 

Type Parameters:

T - The type of the capability support (an interface extending the CapabilitySupport base interface) to be returned

Parameters:

capabilitySupport - The class of the capability support instance to be returned, not null.

Returns:

An instance representing the supported capability wrapped in an Optional. This instance provides information relevant for configuring the capability. Note that this information is only applicable for this specific gripper device. Always use the Optional.isPresent() method on the returned instance to check if the capability is supported by the gripper device, prior to accessing the capability support (using Optional.get()).

Since:

1.11.0