I2RT Python API

A Python client library for interacting with I2RT products, designed with simplicity and extensibility in mind.

Features

• 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

Installation

conda create --name i2rt_env python=3.10
conda activate i2rt_env
cd ~/i2rt
pip install -e .

Basic CAN Usage

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/can0

Where can0 is the CAN device name.

You need to bring up the CAN interface with

sudo ip link set can0 up type can bitrate 1000000

We have provided a convenience script to reset all CAN devices. Simply run

sh scripts/reset_all_can.sh

See set_persist_id_socket_can.md if you want to set persistent CAN device names

Gripper type

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.

Run YAM Gello Leader Follower (foot pedal controls gripper)

Doesn't work over ssh and make sure the following command returns x11. Also, the foot pedal corresponds to the letter 'b'.

echo $XDG_SESSION_TYPE

Terminal 1: Launch follower robot

conda activate i2rt_env
cd ~/i2rt
python scripts/minimum_gello.py --gripper yam_compact_small --mode follower --can-channel can0 --bilateral_kp 0.2

Terminal 2: Launch leader robot

conda activate i2rt_env
cd ~/i2rt
python scripts/minimum_gello.py --gripper yam_compact_small --mode leader --can-channel can1 --bilateral_kp 0.2

Contributing

We welcome contributions! Please make a PR.

License

This project is licensed under the MIT License - see the LICENSE file for details.

Support

• Contact: [email protected]

Acknowledgments

• TidyBot++ - Flow base hardware and code is inspired by TidyBot++
• GELLO - Robot arm teleop is inspired by GELLO