Gripper 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.

The Skill

part_present = gripper.get_part_present()

The Code

Safety first!

A real robot will faithfully do whatever you ask of it - so please take a moment to clear the workspace, keep an E-Stop within reach, and be ready to disconnect.

Operating real hardware is at your own risk.

Real

"""
Demonstrates reading whether a suction gripper currently holds an object.

Supports Piab grippers on all protocols (URCAP, MODBUS_RTU, ISAACSIM); this
example uses MODBUS_RTU. Also supported for the simulation-only
custom.SuctionGripper.

Usage:
    python get_part_present.py --serial-port COM3
"""

import argparse
from loguru import logger

from telekinesis.synapse.tools.suction_grippers import piab


def main(serial_port: str) -> None:
    """Reads whether a Piab gripper currently holds an object."""

    #===================== Create Gripper ======================================
    gripper = piab.PiabPiCobotElectric()

    # ==================== Run Skill ===========================================
    try:
        gripper.connect(serial_port=serial_port, protocol="MODBUS_RTU")
        logger.success(f"Part present: {gripper.get_part_present()}")
    except (ConnectionError, OSError) as e:
        logger.error(f"Error occurred: {e}")
    finally:
        gripper.disconnect()


if __name__ == "__main__":
    p = argparse.ArgumentParser(description="Piab gripper get part present")
    p.add_argument("--serial-port", dest="serial_port", default="COM3",
                   help="Serial port for MODBUS_RTU")
    args = p.parse_args()

    main(serial_port=args.serial_port)

Parameter Configuration

This skill takes no input parameters.

Returns

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

Raises

Exception	Condition
ConnectionError	The backend is not connected
RuntimeError	The status request fails, or the gripper is not connected

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