arcor2-yumi 0.3.0

ARCOR2 Calibration

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.

Changelog

The format is based on Keep a Changelog,

[0.3.0] - 2024-04-11

Changed

• Updated dependencies, switched to Python 3.11.

[0.2.0] - 2022-10-28

Changed

• Switched to Python 3.10, updated dependencies.

[0.1.0] - 2021-10-25

Changed

• The first working version with basic functionality.