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To command the grippers according to here, I called the service:

• rosservice call /yumi/rws/sm_addin/set_sg_command 'T_ROB_R' 7 0.0

to open the gripper, but to activate this command I had to call the other service which is:

• rosservice call /yumi/rws/sm_addin/run_sg_routine.

Here are the list of the grippers command services:

uint8 SG_COMMAND_UNKNOWN      = 1
uint8 SG_COMMAND_NONE         = 2
uint8 SG_COMMAND_INITIALIZE   = 3
uint8 SG_COMMAND_CALIBRATE    = 4
uint8 SG_COMMAND_MOVE_TO      = 5
uint8 SG_COMMAND_GRIP_IN      = 6
uint8 SG_COMMAND_GRIP_OUT     = 7
uint8 SG_COMMAND_BLOW_ON_1    = 8
uint8 SG_COMMAND_BLOW_ON_2    = 9
uint8 SG_COMMAND_BLOW_OFF_1   = 10
uint8 SG_COMMAND_BLOW_OFF_2   = 11
uint8 SG_COMMAND_VACUUM_ON_1  = 12
uint8 SG_COMMAND_VACUUM_ON_2  = 13
uint8 SG_COMMAND_VACUUM_OFF_1 = 14
uint8 SG_COMMAND_VACUUM_OFF_2 = 15

To command the grippers according to here, I called the service:

• rosservice call /yumi/rws/sm_addin/set_sg_command 'T_ROB_R' 7 0.0

to open the gripper, but to activate this command I had to call the other service which is:

• rosservice call /yumi/rws/sm_addin/run_sg_routine.

Here are the list of the grippers command services:

uint8 SG_COMMAND_UNKNOWN      = 1
uint8 SG_COMMAND_NONE         = 2
uint8 SG_COMMAND_INITIALIZE   = 3
uint8 SG_COMMAND_CALIBRATE    = 4
uint8 SG_COMMAND_MOVE_TO      = 5
uint8 SG_COMMAND_GRIP_IN      = 6
uint8 SG_COMMAND_GRIP_OUT     = 7
uint8 SG_COMMAND_BLOW_ON_1    = 8
uint8 SG_COMMAND_BLOW_ON_2    = 9
uint8 SG_COMMAND_BLOW_OFF_1   = 10
uint8 SG_COMMAND_BLOW_OFF_2   = 11
uint8 SG_COMMAND_VACUUM_ON_1  = 12
uint8 SG_COMMAND_VACUUM_ON_2  = 13
uint8 SG_COMMAND_VACUUM_OFF_1 = 14
uint8 SG_COMMAND_VACUUM_OFF_2 = 15

To command the grippers according to here, I called the service:

• rosservice call /yumi/rws/sm_addin/set_sg_command 'T_ROB_R' 7 0.0

to open the gripper, but to activate this command I had to call the other service which is:

• rosservice call /yumi/rws/sm_addin/run_sg_routine.

Here are is the list of the grippers command services:

uint8 SG_COMMAND_UNKNOWN      = 1
uint8 SG_COMMAND_NONE         = 2
uint8 SG_COMMAND_INITIALIZE   = 3
uint8 SG_COMMAND_CALIBRATE    = 4
uint8 SG_COMMAND_MOVE_TO      = 5
uint8 SG_COMMAND_GRIP_IN      = 6
uint8 SG_COMMAND_GRIP_OUT     = 7
uint8 SG_COMMAND_BLOW_ON_1    = 8
uint8 SG_COMMAND_BLOW_ON_2    = 9
uint8 SG_COMMAND_BLOW_OFF_1   = 10
uint8 SG_COMMAND_BLOW_OFF_2   = 11
uint8 SG_COMMAND_VACUUM_ON_1  = 12
uint8 SG_COMMAND_VACUUM_ON_2  = 13
uint8 SG_COMMAND_VACUUM_OFF_1 = 14
uint8 SG_COMMAND_VACUUM_OFF_2 = 15

Still, I don't know how to read the position of the grippers, if you know how to do it, please feel free to leave a comment or even another answer, please.