Detecting status of YuMi smart gripper from external application

mathias

I would like to manually move the fingers on the smartgripper during lead-through and then read the gripper finger position from an external windows application. I am not really finding any information on how to do that. Anyone having pointers or code samples? It would be much appreciated. Sincerely, Mathias

mathias

So, after creating the discussion thread the answer appeared. The hand signals are exposed in the controller so any means of reading those work.

Robot web services example:

At linux prompt:

curl --anyauth -u "Default User":robotics "http://192.168.125.1/rw/iosystem/signals/hand_ActualPosition_L"

In web browser (using Default User och default pswd robotics): 

http://192.168.125.1/rw/iosystem/signals/hand_ActualPosition_L

kazoo

Not directly related, but you should be able to use this. You can return a text which includes the output from the function to measure the status.
https://github.com/BerkeleyAutomation/yumipy/blob/master/RAPID/SERVER_RIGHT.mod