YuMi Realtime Control Interfaces

September 24, 2025 · View on GitHub

A collection of realtime control interfaces for the bi-manual ABB YuMi IRB14000 robot arm using Robot Web Services (RWS) and Externally Guided Motion (EGM) low-level control.

Differentiable IK solving handled by the pyroki library developed by Chung-Min Kim!

Available control interfaces include:

  1. Interactive Viser Interface (Draggable End-Effector Frames)
  2. Meta Quest Oculus VR Tele-operation control
  3. Diffusion Policy
  4. Physical Intelligence PI0-FAST
  5. NVIDIA Isaac-GR00T

DiffusionPolicy Diffusion Policy autonomously performing a handoff trained from 70 expert demonstrations

VR_Control Oculus VR Controllers Tele-operating the YuMi

Installation

Full install instructions tested on Ubuntu 22.04 ROS Noetic in a mamba-forge environment.

Usage Instructions

After a successful install, read the usage instructions.

TODOS

  • Add observation-action pair .hdf5 logger for online visuo-motor policy training.
  • Add data playback visualizer for data logging verification
  • Bind datalogger to oculus save/reject data buttons
  • Debug VRPolicy action behavior while homing
  • Implement Diffusion Policy Controller
  • Implement NVIDIA Isaac-GR00T Policy Controller
  • Implement Physical Intelligence π0 Policy Controller