YAM Leader Arm

✓ Teleoperation✓ Teaching Handle✓ Bimanual Ready

The YAM Leader is the operator-side arm used for teleoperation. It is kinematically identical to the YAM Arm but fitted with the yam_teaching_handle instead of a gripper. The operator holds the handle and moves the leader arm — the follower arm mirrors the motion in real time.

Specifications

Parameter	Value
Base arm	YAM (6-DOF, CAN bus)
End effector	yam_teaching_handle
Price	$2,999
Typical use	Bimanual teleoperation (YAM Cell)

Teaching Handle

Control	Function
Trigger	Open / close the follower gripper
Top button	Enable / disable arm synchronisation
Second button	User-programmable

Reading the trigger

python scripts/read_encoder.py --channel $CAN_CHANNEL

Example output:

[PassiveEncoderInfo(id=1294, position=0.004382, velocity=0.0, io_inputs=[0, 0])]

• position → follower gripper command (0.0 = open, ~1.0 = closed)
• io_inputs → button states

Resetting encoder zero

If the magnet has shifted or after repairs:

python devices/config_passive_encoder.py --bus $CAN_CHANNEL reset-zero-position

Re-run read_encoder.py to confirm the trigger-released reading is near 0.0.

Teleoperation Setup

The leader arm is launched via minimum_gello.py in leader mode:

python examples/minimum_gello/minimum_gello.py \
  --gripper yam_teaching_handle \
  --mode leader \
  --can-channel can_leader_l

For full bimanual setup see Bimanual Teleoperation.

Videos

See Also

• YAM Arm — the follower arm
• YAM Cell — full bimanual teleoperation station
• Bimanual Teleoperation
• Grippers