Detecting status of YuMi smart gripper from external application

mathias · August 19, 2016, 10:55am

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 22, 2016, 6:58am

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 14, 2017, 11:46pm

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.

github.com/BerkeleyAutomation/yumipy

RAPID/SERVER_RIGHT.mod

master

MODULE SERVER_R

    !/////////////////////////////////////////////////////////////////////////////////////////////////////////
    !GLOBAL VARIABLES
    !/////////////////////////////////////////////////////////////////////////////////////////////////////////

    !//Robot configuration
    PERS tooldata currentTool:=[TRUE,[[0,0,156],[1,0,0,0]],[0.001,[0,0,0.001],[1,0,0,0],0,0,0]];
    PERS wobjdata currentWobj:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
    PERS speeddata currentSpeed;
    PERS zonedata currentZone;
    
    !//PC communication
    VAR socketdev clientSocket;
    VAR socketdev serverSocket;
    VAR num instructionCode;
    VAR num params{10};
    VAR num nParams;

    PERS string ipController:="192.168.125.1";

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Detecting status of YuMi smart gripper from external application

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