Streaming Information from the Robot

YuMSubscriber

class yumipy.YuMiSubscriber(include_left=True, include_right=True, left_includes=('torques', 'states', 'poses'), right_includes=('torques', 'states', 'poses'))

Interface to stream pose and state information from an ABB YuMI robot over ethernet.

__init__(include_left=True, include_right=True, left_includes=('torques', 'states', 'poses'), right_includes=('torques', 'states', 'poses'))

Initializes a YuMiSubscriber

Parameters:

• include_left (bool, optional) – If True, the left arm subscriber is included and instantiated. Defaults to True
• include_right (bool, optional) – If True, the right arm subscriber is included and instantiated. Defaults to True

Raises:

YuMiCommException – If communication times out or socket error.

stop()

Calls the stop function for each instantiated arm subscriber object.

start()

Calls the start function for each instantiated arm subscriber object.

YuMiSubcriber Example

sub = YuMiSubcriber()
sub.start()

left_pose = sub.left.get_pose()
right_pose = sub.right.get_pose()
left_state = sub.left.get_state()
right_state = sub.right.get_state()
left_torque = sub.left.get_torque()
right_torque = sub.right.get_torque()

sub.stop()