lerobot-yam 0.1.1

Meta-package to install YAM LeRobot plugins

LeRobot YAM Plugins

YAM follower arm + GELLO leader plugins for LeRobot.

Quickstart

Requirements: CAN interface (e.g. can0) and a GELLO leader (port configurable). GELLO assembly information from gello_mechanical.

pip install -e .
lerobot-teleoperate \
  --robot.type=yam_follower \
  --robot.port=can0 \
  --robot.gripper_type=crank_4310 \
  --teleop.type=yam_leader \
  --teleop.port=/dev/ttyUSB0

Note: this repo expects lerobot 0.4.3 features (plugin discovery in the standard CLIs). If 0.4.3 is not on PyPI, install it from source instead.

Record

lerobot-record \
  --dataset.repo_id=YOUR_USERNAME/yam_teleop \
  --dataset.single_task="Teleop YAM arm (pick/place)" \
  --dataset.fps=30 \
  --dataset.num_episodes=5 \
  --dataset.episode_time_s=60 \
  --dataset.reset_time_s=15 \
  --dataset.push_to_hub=true \
  --robot.type=yam_follower \
  --robot.port=can0 \
  --robot.gripper_type=crank_4310 \
  --teleop.type=yam_leader \
  --teleop.port=/dev/ttyUSB0

Policy Control

lerobot-control \
  --robot.type=yam_follower \
  --robot.port=can0 \
  --policy.path=YOUR_USERNAME/yam-policy

Extras

List cameras:

lerobot-find-cameras opencv

Teleop with cameras + Rerun:

lerobot-teleoperate \
  --robot.type=yam_follower \
  --robot.port=can0 \
  --robot.gripper_type=crank_4310 \
  --robot.cameras='{
    "wrist": {"type": "opencv", "index_or_path": "/dev/video6", "width": 640, "height": 480, "fps": 30},
    "front": {"type": "opencv", "index_or_path": "/dev/video4", "width": 640, "height": 480, "fps": 30}
  }' \
  --teleop.type=yam_leader \
  --teleop.port=/dev/ttyUSB0 \
  --display_data=true

Safety step limits (normalized per‑cycle steps: joints in [-100, 100], gripper in [0, 100]):

--robot.lerobot_max_step=1 \
--robot.lerobot_gripper_max_step=1

Packages

Package	Purpose
yam-common	Shared YAM utilities
lerobot_robot_yam	Follower robot plugin
lerobot_teleoperator_yam_gello	Leader teleoperator plugin

Install packages separately if you only need one component (e.g., follower‑only for policy inference).