Quick Start

Get the YAM arm moving in 5 minutes. This guide assumes you have installed the SDK and set up the CAN bus.

1. Test Without Hardware (Simulator)

You don't need an arm to try the SDK. Launch the MuJoCo visualizer:

python examples/minimum_gello/minimum_gello.py --mode visualizer_local

A 3D window opens with the YAM arm. You can inspect the model and verify your environment is working.

2. Zero-Gravity Mode

Enable zero-gravity mode to move the arm freely by hand:

python i2rt/robots/motor_chain_robot.py --channel can0 --gripper_type linear_4310

The arm enters a gravity-compensated floating state. You can push it to any configuration; it holds position when released.

3. Python API: Move to a Joint Target

from i2rt.robots.motor_chain_robot import get_yam_robot
import numpy as np

# Connect (zero-gravity on by default)
robot = get_yam_robot(channel="can0", zero_gravity_mode=True)

# Read current joint positions (6 values, in radians)
q = robot.get_joint_pos()
print("Current joints:", q)

# Command a home position
robot.command_joint_pos(np.zeros(6))

4. Leader–Follower Teleoperation

You need one follower arm (any gripper) and one leader arm (with yam_teaching_handle gripper), each on a separate CAN channel.

Terminal 1 — follower:

python examples/minimum_gello/minimum_gello.py \
  --gripper linear_4310 \
  --mode follower \
  --can-channel can0 \
  --bilateral_kp 0.2

Terminal 2 — leader:

python examples/minimum_gello/minimum_gello.py \
  --gripper yam_teaching_handle \
  --mode leader \
  --can-channel can1 \
  --bilateral_kp 0.2

Press the top button on the teaching handle to enable synchronization.

5. Flow Base

from i2rt.flow_base.flow_base_controller import Vehicle
import time

vehicle = Vehicle()
vehicle.start_control()

# Drive forward 0.1 m/s for 2 seconds
start = time.time()
while time.time() - start < 2.0:
    vehicle.set_target_velocity((0.1, 0.0, 0.0), frame="local")

What's Next?

Goal	Resource
Bimanual teleoperation	YAM Cell
Record and replay motions	Record & Replay example
Full Python API reference	YAM Arm API
Mobile manipulation	Linear Bot
Troubleshooting	Troubleshooting