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

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/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

This enables you to launch the robot in zero gravity mode:

python i2rt/robots/motor_chain_robot.py --model yam --channel can0 --operation_mode gravity_comp

Default 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", motor_timeout_enabled=True)

# 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 follower

To launch the robot mujoco visualizer run

python scripts/minimum_gello.py --mode visualizer

This requires 2 robot arms.

To launch the follower robot run

python scripts/minimum_gello.py --mode follower --can_channel can0

To launch the leader robot run

python scripts/minimum_gello.py --mode leader  --can_channel can0

By default, the arm comes out of the factory with a safety timeout feature enabled. This timeout is set to 200ms, meaning that if the motor does not receive a command within 200ms, 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.

If your arm has timeout removed, you can run the following command to launch the arm so the arm won't sudden drop during initialization. However, if the arm is offline and is at the gravity compensation mode the arm may move unexpectedly. Please be aware of this risk before removing the timeout.

python i2rt/robots/motor_chain_robot.py --model yam --channel can0 --operation_mode gravity_comp --motor_timeout_disabled

To remove the timeout feature, run the following command.

python i2rt/motor_config_tool/remove_timeout.py --channel can0

To set the timeout feature, run the following command.

python i2rt/motor_config_tool/set_timeout.py --channel can0 --timeout

We also provide a tool to zero the motor offsets.

python i2rt/motor_config_tool/set_zero.py --channel can0 --motor_id 1

After moving the timeout, you can initialize the YAM arm with the following command.

from i2rt.robots.motor_chain_robot import get_yam_robot

# Get a robot instance
robot = get_yam_robot(channel="can0", motor_timeout_enabled=False)

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.py

from 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

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