Package com.viam.sdk.core.component.gripper

Class Gripper

java.lang.Object
com.viam.sdk.core.resource.Resource
com.viam.sdk.core.component.Component
com.viam.sdk.core.component.gripper.Gripper
Direct Known Subclasses:
GripperRPCClient
public abstract class Gripper extends Component
Gripper represents a physical robotic gripper.

  • Field Details

    • SUBTYPE

      public static final Subtype SUBTYPE

  • Constructor Details

    • Gripper

      public Gripper(String name)

  • Method Details

    • createStatus

      public Robot.Status createStatus()
      Description copied from class: Resource
      Create a generic Status for the Resource
      Overrides:
      createStatus in class Resource
      Returns:
      a Status

    • named

      public static Common.ResourceName named(String name)
      Get the ResourceName of the component
      Parameters:
      name - the name of the component
      Returns:
      the component's ResourceName

    • fromRobot

      public static Gripper fromRobot(RobotClient robot, String name)
      Get the component with the provided name from the provided robot.
      Parameters:
      robot - the RobotClient
      name - the name of the component
      Returns:
      the component

    • open

      public abstract void open(Optional<com.google.protobuf.Struct> extra)
      Open the gripper.

    • grab

      public abstract boolean grab(Optional<com.google.protobuf.Struct> extra)
      Instruct the gripper to grab.
      Returns:
      Indicates if the gripper grabbed something.

    • stop

      public abstract void stop(Optional<com.google.protobuf.Struct> extra)
      Stop the gripper. It is assumed the gripper stops immediately.

    • isMoving

      public abstract boolean isMoving()
      Get if the gripper is currently moving.
      Returns:
      Whether the gripper is moving.