@Annick_Mottard I was just working on a program where I want to read the gripper position once closed on an object. The way I tried to do it is as follows:I started from an empty program.I added a GRIPPER command and used Edit action to set the gripper close command.Then I tried to add subprogram rq_current_pos from the legacy UR package from your support website.Then I simply added a variable gripperPosition = rq_pos in the program to get the gripper position.However when I try to run the program there is an error popping up saying Contextual error: The function rq_current_pos is double defined. I am guessing this is probably related to the UR Cap interface which is probably using this function. However, if I try to include only the rq_pos in the program it does not work saying that this variable rq_pos is not defined. What should I do to get fingertips position?