Simulator

Gazebo

It is possible to simulate YuMi in Gazebo, employing the same ROS control interface for the joints as the real robot. To load a simulated YuMi, run the commands shown at the bottom of this page.

Note: if you're running the YuMi Gazebo simulation for the first time, it will possibly take from 3 to 5 minutes until the robot is fully loaded. You'll see a notification saying that the ROS controllers crashed (they timed-out waiting for the robot to be loaded). This is normal, and it happens because Gazebo needs to download models and data from the Internet the first time you run it. Just wait until the simulator is fully set (i.e. you can visualize YuMi), stop it, and launch everything again.

Position trajectory control of joints

roslaunch yumi_launch yumi_gazebo_traj_pos_control.launch

Velocity trajectory control of joints

roslaunch yumi_launch yumi_gazebo_traj_vel_control.launch

Direct velocity control of joints

roslaunch yumi_launch yumi_gazebo_vel_control.launch