Detecting status of YuMi smart gripper from external application

mathias · August 2016

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 · August 2016

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 · June 2017

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

Detecting status of YuMi smart gripper from external application

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