This article is to help you to create a program to detect if an object has been lost with the Epick.
The Epick can detect if an object has been lost. The function used is rq_is_vacuum_obj_detected().
If an object is present this function returns True otherwise it will return False.
The condition to detect an object that has been lost depends on the operation mode of the gripper.
- Automatic: The object is considered lost if the level of vacuum is below 10%
- Manuel: The object is considered lost if the level of vacuum is below the minimum vacuum level parameter set in the program.
If you want to display a message when an object has been lost, it is possible to monitor object presence after a grip.
Here below is an example of the program :
A thread monitors the presence of the object after the grip and displays a message if the object is lost between the grip and the release position.