This package contains the manuals and the source codes of Yumi robot.
There are several steps you need to take before you run the controller.
- Set-upping YuMi in Robot-Studio
- Calibrating the arms from the teach-pad
- Running the tasks from the teach-pad
Then, you can run the interface on the Ubuntu machine. I also put the back-up of the RAPID in this repo. To be able to run the robot, there are several nice and comprehensive Wikis which you can follow:
https://github.com/kth-ros-pkg/yumi/wiki
https://github.com/ethz-asl/yumi/wiki
To run the interface, you need to run:
roslaunch yumi_launch yumi_vel_control.launch
To run the example you need to run:
rosrun yumi_motion_example yumi_motion_example_node