I would like to share with you a little program which work a bit like find surface but instead of stopping the progression of the robot with force sensing, the robot is stopped using ePick (Robotiq Electric Vacuum gripper) object detection.

Here is how it works:

• The vacuum gripper is switched on
• The robot is requested to move to toward the object
• The robot interrupt its progression once ePick detect that it successfully reached the requested vacuum level by touching and object.