How to continuously monitor vacuum level and object detection with ePick/airPick

I would like to share with you information about how to continuously monitor .

In some application you may want to continuously monitor vacuum level and object detection of Robotiq vacuum gripper (ePick, airPick).
For example, it can be usefully to monitor if the object is lost during transport.

You can check if the gripper catch an object with the following script command:

rq_is_vacuum_obj_detected()

This function will return True is the vacuum level is above the minimum vacuum parameter.

You can get the vacuum level with the following script command:

100-rq_current_pos()

Here below is an example of program which monitor in a thread vacuum level and object detection: