A Python client library for interacting with I2RT products, designed with simplicity and extensibility in mind.
- Plug and play python interface for I2RT robots
- Real-time robot control via CAN bus communication
- Support for directly communicating with motor (DM series motors)
- Visualization and gravity compensation using MuJoCo physics engine
- Gripper force control mode and auto calibration
pip install -e .Plug in the CAN device and run the following command to check the available CAN devices.
ls -l /sys/class/net/can*This should give you something like this
lrwxrwxrwx 1 root root 0 Jul 15 14:35 /sys/class/net/can0 -> ../../devices/platform/soc/your_can_device/can0Where can0 is the CAN device name.
You need to bring up the CAN interface with
sudo ip link set can0 up type can bitrate 1000000We have provided a convenience script to reset all CAN devices. Simply run
sh scripts/reset_all_can.shSee set_persist_id_socket_can.md if you want to set persistent CAN device names
Currently YAM supports three different grippers:
| Gripper Name | Description |
|---|---|
yam_compact_small |
Zero-linkage crank gripper, optimized for minimizing gripper width. |
yam_lw_gripper |
Linear gripper with smaller DM3507 motor. Lightweight, but requires calibration or starting with the gripper in the closed configuration. |
yam_teaching_handle |
Used for the leader arm setup. Includes a trigger to control the gripper and two customizable buttons that can be mapped to different functions. |
The linear gripper requires an additional calibration step because its motor must rotate more than 2π radians to complete the full stroke.
This enables you to launch the robot in zero gravity mode:
python i2rt/robots/motor_chain_robot.py --channel can0 --gripper_type $YOUR_GRIPPER_TYPEDefault timeout is enabled for YAM motors. Please refer to YAM configuration for more details.
from i2rt.robots.motor_chain_robot import get_yam_robot
# Get a robot instance
robot = get_yam_robot(channel="can0")
# Get the current joint positions
joint_pos = robot.get_joint_pos()
# Command the robot to move to a new joint position
target_pos = np.array([0, 0, 0, 0, 0, 0, 0])
# Command the robot to move to the target position
robot.command_joint_pos(target_pos)To launch the follower robot run.
python scripts/minimum_gello.py --mode followerTo launch the robot mujoco visualizer run
python scripts/minimum_gello.py --mode visualizerThis requires one follower arm and one leader arm with the yam_teaching_handle gripper
To launch the follower robot run
python scripts/minimum_gello.py --gripper $YOUR_FOLLOWER_ARM_GRIPPER --mode follower --can-channel can0 --bilateral_kp 0.2To launch the leader robot run
python scripts/minimum_gello.py --gripper yam_teaching_handle --mode leader --can-channel can1 --bilateral_kp 0.2In this demo, the top button on the teaching handle controls the synchronization between the two arms:
- Press once → The follower arm will gradually sync to the leader arm and maintain synchronization.
- Press again → Synchronization stops, and the follower arm will no longer track the leader.
Note on --bilateral_kp: This parameter controls how strongly the leader arm reacts to the follower arm's position deviation. A higher value (e.g. > 0.2) will make the leader arm feel heavier and more resistant. We recommend starting with a value between 0.1 and 0.2.
If you just want to launch the YAM follower arm and inspect its output, you can run:
python scripts/run_yam_leader.py --channel $CAN_CHANNELexample output:
[-0.33512627 0.00247959 0.00820172 -0.02079042 -0.4110399 -0.07381552]
[PassiveEncoderInfo(id=1294, position=np.float64(0.004382802251101832), velocity=0.0, io_inputs=[0, 0])]This script prints:
- The arm joint angles
- The trigger value on the teaching handle
- The states of the two buttons
By default, the arm comes out of the factory with a safety timeout feature enabled. This timeout is set to 400ms, meaning that if the motor does not receive a command within 400ms, it will enter an error state, disable itself, and switch to damping mode. (Contact sales@i2rt.com if you want to disable this feature by default for your bulk order.)
We consider this a safety mechanism—particularly in cases where the CAN connection goes offline. Without this safeguard, gravity compensation under certain configurations could produce positive feedback torque, potentially leading to injury. However, we understand that this feature may not always be desirable, especially when the arm is intentionally offline. For such cases, we provide a tool to disable the timeout feature.
To remove the timeout feature, run the following command.
python i2rt/motor_config_tool/remove_timeout.py --channel can0To set the timeout feature, run the following command.
python i2rt/motor_config_tool/set_timeout.py --channel can0 --timeoutWe also provide a tool to zero the motor offsets.
python i2rt/motor_config_tool/set_zero.py --channel can0 --motor_id 1After moving the timeout, you can initialize the YAM arm with the same following command.
from i2rt.robots.motor_chain_robot import get_yam_robot
# Get a robot instance
robot = get_yam_robot(channel="can0")You can control your flow base using a game controller. To run the joystick demo, run the following command.
python i2rt/flow_base/flow_base_controller.pyfrom i2rt.flow_base.flow_base_controller import Vehicle
# Get a robot instance
vehicle = Vehicle()
vehicle.start_control()
# move forward slowly for 1 second
start_time = time.time()
while time.time() - start_time < 1:
user_cmd = (0.1, 0, 0)
vehicle.set_target_velocity(user_cmd, frame="local")We welcome contributions! Please make a PR.
This project is licensed under the MIT License - see the LICENSE file for details.
- Contact: support@i2rt.com