Is there any framework / program to control Android emulator via Code?

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I know this probably is not for stackoverflow.

I'm looking for a framework or program that lets me control an android emulator with code. Imagine Selenium or Puppeteer but for android.

Use cases:

Open applications, scroll page, use selectors to find elements in hierachy and click on them, click on input, enter text etc

What I found so far is UI Automator, appium, but I don't quite understand what is what since I'm completely new to Android's ecosystem.

Thank you in advance.

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