# Detecting status of YuMi smart gripper from external application

**URL:** <https://tech-community.robotics.abb.com/t/detecting-status-of-yumi-smart-gripper-from-external-application/7318>\
**Category:** Developer Tools\
**Created:** [August 19, 2016, 10:55am UTC](https://tech-community.robotics.abb.com/t/detecting-status-of-yumi-smart-gripper-from-external-application/7318 "2016-08-19T10:55:50Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![mathias](https://avatars.discourse-cdn.com/v4/letter/m/bbe5ce/32.png) [@mathias](https://tech-community.robotics.abb.com/u/mathias)\
**Post date:** [August 19, 2016, 10:55am UTC](https://tech-community.robotics.abb.com/t/detecting-status-of-yumi-smart-gripper-from-external-application/7318/1 "2016-08-19T10:55:50Z")

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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

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**Author:** ![mathias](https://avatars.discourse-cdn.com/v4/letter/m/bbe5ce/32.png) [@mathias](https://tech-community.robotics.abb.com/u/mathias)\
**Post date:** [August 22, 2016, 6:58am UTC](https://tech-community.robotics.abb.com/t/detecting-status-of-yumi-smart-gripper-from-external-application/7318/2 "2016-08-22T06:58:44Z")

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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](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](http://192.168.125.1/rw/iosystem/signals/hand_ActualPosition_L)

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**Author:** ![kazoo](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/kazoo/32/598_2.png) [@kazoo](https://tech-community.robotics.abb.com/u/kazoo)\
**Post date:** [June 14, 2017, 11:46pm UTC](https://tech-community.robotics.abb.com/t/detecting-status-of-yumi-smart-gripper-from-external-application/7318/3 "2017-06-14T23:46:21Z")

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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>