YAM Pro

✓ Python SDK✓ MuJoCo Sim✓ Gravity Compensation

YAM Pro is the mid-tier configuration of the YAM Arm Series — same motor topology and SDK behavior as YAM Standard, with enhanced actuator quality and tighter build tolerances for improved repeatability and lifetime.

For the full SDK reference and API documentation that applies to all YAM variants, see the YAM Arm Series page.

Specifications

Parameter	Value
Price	$3,499
Degrees of Freedom	6
Communication	CAN bus (1 Mbit/s)
Shoulder motors	3× DM4340
Elbow / Wrist motors	3× DM4310
Joint 1 range	-150° to +180°
Joint 2 range	0° to +210°
Joint 3 range	0° to +180°
Joint 4 range	-97° to +90°
Joint 5 range	-90° to +90°
Joint 6 range	-120° to +120°
Payload	TBD — see i2rt.com
Reach	TBD — see i2rt.com
Weight	TBD — see i2rt.com
Build / Materials	TBD — see i2rt.com

API Usage

Pass ArmType.YAM_PRO (or the lowercase string "yam_pro") to get_yam_robot():

python

from i2rt.robots.get_robot import get_yam_robot
from i2rt.robots.utils import ArmType, GripperType

robot = get_yam_robot(
    channel="can0",
    arm_type=ArmType.YAM_PRO,
    gripper_type=GripperType.LINEAR_4310,
)

Command line

bash

python i2rt/robots/motor_chain_robot.py --arm yam_pro --channel can0 --gripper linear_4310

Control gains

YAM Pro's default gains match Standard except joint 4's position gain (kp[3] = 40 on Pro vs 10 on Standard); gravity compensation and friction values are the same:

yaml

kp:                 [80.0, 80.0, 80.0, 40.0, 10.0, 10.0]
kd:                 [5.0,  5.0,  5.0,  1.5,  1.5,  1.5]
gravity_comp_factor:[1.0,  1.1,  1.1,  1.2,  1.0,  1.0]
grav_comp_kd:       [0.1,  0.1,  0.1,  0.3,  0.05, 0.05]
coulomb_friction:   [0.3,  0.3,  0.3,  0.06, 0.06, 0.06]

Nearly the same control law as Standard

The actuators are the same parts (DM4340 / DM4310), so most tuning carries over — the only stock difference is a stiffer joint 4 position gain (kp[3] = 40 vs 10).

Differences from Other YAM Variants

	Standard	Pro	Ultra	BIG YAM
`arm_type`	`YAM`	`YAM_PRO`	`YAM_ULTRA`	`BIG_YAM`
Motors	DM4340×3 + DM4310×3	same	same	DM6248×2 + DM4340×2 + DM4310×2
Joint 2 range	210°	210°	210°	180°
Joint 3 range	180°	180°	180°	173°
Default PD gains	J4 kp=10	J4 kp=40	J4 kp=40	different
Build / repeatability	base	enhanced	top	rugged

Summary: YAM Pro = YAM Standard with better hardware-level quality and a stiffer stock joint-4 gain (kp[3] = 40). SDK calls are otherwise interchangeable except for the arm_type argument.

Porting from YAM Standard

diff

- robot = get_yam_robot(channel="can0", arm_type=ArmType.YAM)
+ robot = get_yam_robot(channel="can0", arm_type=ArmType.YAM_PRO)

That's the only required change. All other code — observation reading, joint commands, gravity-comp tuning — is unchanged.

YAM Pro ​

Specifications ​

API Usage ​

Command line ​

Control gains ​

Differences from Other YAM Variants ​

Porting from YAM Standard ​

See Also ​