ur-kotlin/com.wolfscowl.ur_client.core/URDashBoard/loadInstallation

loadInstallation

abstract suspend fun loadInstallation(installation: String): Result<String>

Loads a specified installation file in Polyscope via the dashboard server. This command suspends until the load has completed or failed. The command fails if the associated installation requires confirmation of safety.

IMPORTANT: After the installation has been loaded successfully, the robot transitions to the operational state POWER OFF.

Return

Result containing the response string on success, or an Exception on failure. Response messages may include:

"Loading installation: <default.installation>"
"File not found: <default.installation>"
"Failed to load installation: <default.installation>"

Parameters

installation

The name or path of the installation file.

Samples

import com.wolfscowl.ur_client.UR
import com.wolfscowl.ur_client.examples.Examples.ur
import com.wolfscowl.ur_client.interfaces.state.await
import com.wolfscowl.ur_client.interfaces.state.awaitBlocking
import com.wolfscowl.ur_client.interfaces.state.awaitBlockingUntil
import com.wolfscowl.ur_client.interfaces.state.awaitUntil
import com.wolfscowl.ur_client.model.element.JointPosition
import com.wolfscowl.ur_client.model.element.Pose
import com.wolfscowl.ur_client.model.element.RunningState
import com.wolfscowl.ur_client.model.element.Vec3
import com.wolfscowl.ur_client.model.robot_state.mode.RobotMode
import kotlinx.coroutines.CompletableDeferred
import kotlinx.coroutines.delay
import kotlinx.coroutines.flow.first
import kotlinx.coroutines.runBlocking
import kotlin.system.exitProcess

fun main() { 
   //sampleStart 
   val ur = UR("192.168.2.1")

runBlocking {
    val result = ur.loadInstallation(installation = "installations/default.installations").getOrElse{ it.message }
    println(result)
} 
   //sampleEnd
}