{"id":21739590,"url":"https://github.com/berkeleyautomation/yumipy","last_synced_at":"2025-09-10T10:41:54.534Z","repository":{"id":19064811,"uuid":"72063193","full_name":"BerkeleyAutomation/yumipy","owner":"BerkeleyAutomation","description":"Python control interface for interacting with the ABB YuMi Robot","archived":false,"fork":false,"pushed_at":"2022-01-21T18:56:11.000Z","size":3292,"stargazers_count":62,"open_issues_count":14,"forks_count":36,"subscribers_count":23,"default_branch":"master","last_synced_at":"2025-05-03T20:33:51.494Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/BerkeleyAutomation.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2016-10-27T02:24:53.000Z","updated_at":"2025-01-03T14:54:14.000Z","dependencies_parsed_at":"2022-07-23T02:16:24.275Z","dependency_job_id":null,"html_url":"https://github.com/BerkeleyAutomation/yumipy","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/BerkeleyAutomation/yumipy","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/BerkeleyAutomation%2Fyumipy","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/BerkeleyAutomation%2Fyumipy/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/BerkeleyAutomation%2Fyumipy/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/BerkeleyAutomation%2Fyumipy/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/BerkeleyAutomation","download_url":"https://codeload.github.com/BerkeleyAutomation/yumipy/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/BerkeleyAutomation%2Fyumipy/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":274447985,"owners_count":25287118,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-09-10T02:00:12.551Z","response_time":83,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-26T06:09:31.973Z","updated_at":"2025-09-10T10:41:54.484Z","avatar_url":"https://github.com/BerkeleyAutomation.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# YuMi Python Interface\r\n## AutoLab, UC Berkeley\r\n\r\nThis package provides a python interface for control and communication with ABB's Yumi. Currently the interface is still undergoing development, so changes will occur to this repo. For best results please be on the newest commit of the master branch before installing and using.\r\n\r\nFull documentation can be found at [https://berkeleyautomation.github.io/yumipy/](https://berkeleyautomation.github.io/yumipy/)\r\n\r\nUPDATE: As of commit f4be489 on June 18, 2017, `yumipy` depends on [`autolab_core`](https://berkeleyautomation.github.io/autolab_core/), a renamed version of `core`.\r\nIf this affects you (you have installed yumipy before June 18th, 2017), please do the following:\r\n* Pull the latest commit from `core`\r\n* Re-install using pip or setup.py following the instructions [here](https://berkeleyautomation.github.io/autolab_core/install/install.html)\r\n* Pull the lastest commit from `yumipy`\r\n\r\n### Installation\r\nStep 1: Install the alan YuMi python interface on the client computer that will communicate with the YuMi:\r\n```sh\r\n$ python setup.py develop\r\n```\r\nStep 2: Upload SERVER_LEFT.mod and SERVER_RIGHT.mod under `src/alan/control/` to the left and right arms of YuMi through RobotStudio.\r\n### Usage\r\nSimple example to import and use the YuMi interface (make sure the YuMi is in Auto mode and has the server running):\r\n```python\r\nfrom yumipy import YuMiRobot\r\n# starting the robot interface\r\ny = YuMiRobot()\r\n# getting the current pose of the right end effector\r\npose = y.right.get_pose()\r\n# move right arm forward by 5cm using goto_pose\r\npose.translation[0] += 0.05\r\ny.right.goto_pose(pose)\r\n# move right arm back by 5cm using move delta\r\ny.right.goto_pose_delta((-0.05,0,0))\r\n```\r\n\r\nThe control and RAPID server code is inspired by the [open-abb-driver](https://github.com/robotics/open_abb).\r\n\r\n### Support\r\nPlease request for support and report issues with errors and bugs on the repository Issues tab - that is the best way for us to respond.\r\nFor other inquiries please contact Jeff Mahler at jmahler@berkeley.edu and Jacky Liang at jackyliang@berkeley.edu\r\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fberkeleyautomation%2Fyumipy","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fberkeleyautomation%2Fyumipy","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fberkeleyautomation%2Fyumipy/lists"}