Question about the sample time

[jorgeborrell]

Hi, I need to control the Yumi in real time with sample time of 2 ms. Is this sample time supported by the robot?

[jacky-liang]

YuMiPy does not support 2ms realtime control due to the current set of APIs it uses. For higher frequency control you should implement something that uses ABB's Externally Guided Motion (EGM), which was not supported by the YuMi when we started this project.

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