lerobot-yam 0.1.0

Meta-package to install YAM LeRobot plugins

LeRobot YAM Plugins

This repo contains LeRobot plugins for the YAM arm, split into a shared core package plus follower and leader plugins.

This is the top-level meta package for PyPI. Install subpackages for local development, or install this meta package once all subpackages are published.

Packages

Package	Purpose
yam-common	Shared YAM utilities (motor chain, gravity comp, gripper utils)
lerobot_robot_yam	Follower robot plugin (executes actions)
lerobot_teleoperator_yam_gello	Leader teleoperator plugin (produces actions)

Install

Install everything in one editable command:

pip install -e .

If you only need one component (for example, just the follower to run a policy), install it separately:

pip install -e ./lerobot_robot_yam
pip install -e ./lerobot_teleoperator_yam_gello
pip install -e ./yam_common

Note: pip install -e . assumes the subpackages are installable (e.g., published). For local dev installs, use requirements.txt:

pip install -r ./requirements.txt

Usage

See yam.md for end-to-end teleop and recording examples. Typical CLI use:

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