Control interfaces

Depending on what you want to use YuMi for, you may make use of one of the following movement interfaces:

1. Position control through ABB Driver: This interface has a bandwidth of about 10Hz**?**. If you are interested only in driving YuMi arms to certain positions, it might be a good choice. Interface: ROS control, through position JointTrajectoryControllers.

2. Position control through RobotWebServices: This interface has a bandwidth of about 10Hz. If you are interested only in driving YuMi arms to certain positions, it might be a good choice. Interface: ROS control, through position JointTrajectoryControllers and JointPositionControllers.

3. Velocity control through EGM: This interface has a bandwidth of approximately 250Hz. If you are interested in driving YuMi arms to certain positions quickly and with high dexterity, it might be the best choice. Interface: ROS control, through JointTrajectoryControllers or JointVelocityControllers.

All control interfaces are fully compatible with MoveIt!, given that you use JointTrajectoryControllers for driving the arms of your YuMi.