vacuum gripper check if an item has been picked up

[RaccoonAhro]

Hi!
I've been testing out the xArm6 and its attachments a little as well as the Python SDK. I saw that the Blocky environment has an option to repeat an action until the gripper picks up an item. I'm assuming that means it has the ability to check whether or not an item is attached to the gripper. However, I have not been able to find a way to achieve something like that within the Python SDK. Simply converting the code from Blocky to Python has unfortunately not been helpful either. Is there something I have missed? Or is there a possible workaround to still be able to check for that?
Thank you in advance.

[MinnaZhong]

Hi Raccoon,

We provide the object detection function, the Python SDK is get_vacuum_gripper.
The calling logic of this API is get_vacuum_gripper -> get_suction_cup -> get_tgpio_digital(0), so actually we get the status of TO0 to judge it, you can think the object is picked if it returns 1.

Best,