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ARCOR2 YuMi Demo

Based on galou/yumipy, with a stripped-of support for ROS, adapted to Python 3.8, with added type annotations, etc. The URDF model comes from OrebroUniversity/yumi repository.

Tested with RobotWare 6.12.02 and SmartGripper 3.56.

Functionality

Limitations

Ideas for further development / improvements:

  • Use POST /rw/rapid/modules/MainModule?task=T_ROB1&action=set-module-text to update RAPID during initialization.
    • It would be necessary to somehow assign files on the project service (RAPID) to the ObjectType.