Demonstrates how to use gripper devices in a template program node
Grip and Release Swing demonstrates how to use gripper devices in a template program node. In the program node contribution, the user can select a gripper among the registered grippers available in PolyScope. When a gripper has been selected, the selected gripper can be applied to the template node. This will insert two Gripper program nodes for the selected gripper: one node configured for a grip action and one node configured for a release action.
This example demonstrates how to:
- Get the list of grippers available in PolyScope
- Insert a Gripper program node for a specific gripper device in the program tree
- Configure a Gripper program node for grip and release actions
Note: To have grippers to select from in the program node, some of the gripper driver URCap samples (e.g. Simple Gripper) can be installed.
Information:
- Available from:
- URCap API version 1.9.0.
- PolyScope version 3.12.0/5.6.0.
- Main API interfaces: GripperManager, GripperProgramNodeFactory, GripperNode, GripConfigBuilder, ReleaseConfigBuilder, GripperDevice.