---
title: "Read End-Effector Position"
method: POST
path: "/end-effector/read"
tags: ["control"]
---

# Read End-Effector Position

`POST /end-effector/read`

Retrieve the position, orientation, and open status of the robot's end effector. Only available for manipulators.

## Query parameters

- `robot_id` integer

## Request body

- EndEffectorReadRequest
  - `only_gripper` boolean — If True, only return the gripper state. If False, return the full end effector position and orientation.
  - `sync` boolean — If True, the simulation will first read the motor positions, synchronize them with the simulated robot, and then return the end effector position.Useful for measurements, however it will take more time to respond.

## Response `200`

Successful Response

- EndEffectorPosition — End effector position for a movement in absolute frame. All zeros means the initial position, that you get by calling /move/init
  - `open` number, required — 0 for closed, 1 for open
  - `rx` number, nullable, required — Absolute Pitch in degrees
  - `ry` number, nullable, required — Absolute Yaw in degrees
  - `rz` number, nullable, required — Absolute Roll in degrees
  - `x` number, nullable, required — X position in centimeters
  - `y` number, nullable, required — Y position in centimeters
  - `z` number, nullable, required — Z position in centimeters

## Other responses

- `422` — Validation Error

---

[API](https://skmtc.net/phospho/apis/fastapi.md) · [All operations](https://skmtc.net/phospho/apis/fastapi/llms.txt) · [OpenAPI document](https://skmtc-service-staging.skmtc.workers.dev/v1/apis/phospho/fastapi/versions/93e83588fc02/schema)