ur-kotlin/com.wolfscowl.ur_client.interfaces.tool/OnRobotVG/grip

grip

abstract fun grip(channel: Int, vacuum: Int, gripTimeout: Float = 3.0f, cmdTimeout: Long? = null, popupMsg: Boolean = true, onChange: (VGToolGripState) -> Unit? = null, onFinished: (VGToolGripState) -> Unit? = null): VGToolGripState

Activate the vacuum gripper to pick up an object.

This method represents the grip operation of the OnRobot VGC10 and VG10 vacuum gripper. The gripper applies the specified vacuum level to grip an object.

Return

VGToolGripState continuously updated execution state of the URScript.

Parameters

channel

vacuum channel to activate (0 = A; 1 = B; 2 = AB).

vacuum

target vacuum level (kPa).

gripTimeout

maximum time (seconds) to wait for the object to be gripped.

cmdTimeout

maximum time (milliseconds) to wait for the command to complete.

popupMsg

enable/disable popup messages on Polyscope.

onChange

⚠️ Experimental: optional callback invoked whenever the VGToolGripState changes during execution. This API may change or be removed in future versions.

onFinished

optional callback that is invoked once when the VGToolGripState is final. The state is final when runningState assumes the following value: RunningState.END, RunningState.TIMEOUT, RunningState.CANCELED

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")
val vg = ur.attachToolOnRobotVG(host = "192.168.2.2", toolIndex = 0)

runBlocking {
    ur.connect()
    ur.isConnectedFlow.first { it }
    val state = vg.grip(
        channel = 2,
        vacuum = 80,
        gripTimeout = 2.0f,
        cmdTimeout = 5000,
        popupMsg = false,
        onChange = null,
        onFinished = { state -> /* do something */}
    ).await() // await for the finale state
    println(state)
} 
   //sampleEnd
}