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

release

abstract fun release(channel: Int, releaseTimeout: Float = 3.0f, cmdTimeout: Long? = null, popupMsg: Boolean = true, onChange: (VGToolReleaseState) -> Unit? = null, onFinished: (VGToolReleaseState) -> Unit? = null): VGToolReleaseState

Release an object held by the vacuum gripper.

This method represents the release operation of the OnRobot VGC10 and VG10 vacuum grippers. The gripper stops applying vacuum and safely releases the object.

Return

VGToolReleaseState continuously updated execution state of the URScript.

Parameters

channel

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

releaseTimeout

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

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 VGToolReleaseState changes during execution. This API may change or be removed in future versions.

onFinished

optional callback that is invoked once when the VGToolReleaseState 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.release(
        channel = 2,
        releaseTimeout = 2.0f,
        cmdTimeout = 5000,
        popupMsg = false,
        onChange = null,
        onFinished = { state -> /* do something */}
    ).await() // await for the finale state
    println(state)
} 
   //sampleEnd
}