Get Part Present

SUMMARY

Get Part Present reports whether a suction gripper currently detects a held part.

This skill is used to verify grasp success immediately after grasp, or to detect a dropped part mid-transit.

SUPPORTED GRIPPERS

Available on Piab suction grippers.

The Skill

part_present = gripper.get_part_present()

The Code

Example: Verify Grasp Success

"""
Piab get_part_present example for the Synapse SDK.

Grasps an object, then checks whether the grasp succeeded.

Usage:
    python get_part_present.py --ip <ROBOT_IP>
"""

import time
import argparse
from loguru import logger

from telekinesis.synapse.tools.suction_grippers import piab


def main(ip: str):
    """Grasp, then verify a part is present."""

    # Create and connect to the gripper
    gripper = piab.PiabPiCobotElectric()
    gripper.connect(ip=ip, protocol="URCAP")

    try:
        gripper.grasp()
        time.sleep(0.5)  # allow vacuum to build

        if gripper.get_part_present():
            logger.success("Part detected - grasp succeeded.")
        else:
            logger.warning("No part detected - grasp failed.")
    finally:
        gripper.disconnect()


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="Piab gripper get_part_present example")
    parser.add_argument("--ip", type=str, required=True, help="UR controller IP address")
    args = parser.parse_args()

    main(ip=args.ip)

The Explanation of the Code

get_part_present reads the gripper's raw status and returns True if it begins with "P" (part present), False if it is exactly "F" (fault/no part) or begins with any other character. Call it a short time after grasp to allow vacuum to build before checking - calling it immediately may report a false negative while pressure is still ramping.

Return Value

Type	Description
bool	True if a part is currently detected, False otherwise.

Where to Use the Skill

• Grasp verification - Confirm a pick succeeded before moving away from the pick location
• In-transit monitoring - Poll periodically during a move to detect a dropped part early

When Not to Use the Skill

Do not use Get Part Present when:

• The gripper is not connected - always call connect before issuing commands
• Checking immediately after grasp - allow a brief settle time for vacuum to build before checking, or the result may be unreliable