rfabric-yam-bridge 0.1.1

Standalone bridge that exposes i2rt YAM arms over the rFabric realtime control UDS, with no lerobot dependency.

rfabric-yam-bridge

Standalone bridge between the rFabric realtime control UDS and an i2rt YAM arm (single or bimanual). Pip-install this package on the robot host, run the rfabric-yam-bridge CLI as a systemd unit, and the rFabric agent will drive your YAM the moment an operator session opens.

Install

i2rt is a vendor-supplied package not on PyPI. Install it first from wherever your vendor distributes it, then install this bridge:

pip install /path/to/i2rt          # or: pip install git+<vendor-url>
uv tool install rfabric-yam-bridge

Run

Single arm (one CAN bus):

rfabric-yam-bridge \
    --can-channel can0 \
    --gripper linear_4310 \
    --socket-path /run/rfabric/control.sock

Bimanual (two CAN buses, one per arm):

rfabric-yam-bridge \
    --left-channel can0  --left-gripper linear_4310 \
    --right-channel can1 --right-gripper linear_4310 \
    --socket-path /run/rfabric/control.sock

The bridge:

• Binds the UDS, accepts a single client (the rFabric agent), and decodes inbound length-prefixed CBOR Frames.
• Maps every operator payload kind (joint_targets, joint_deltas, joint_velocity, end_effector, stop, home) into the same per-arm latest target / latest velocity, integrated by a single fixed-rate tick (default 100 Hz) into MotorChainRobot.command_joint_pos.
• Mirrors live joint state back to the operator UI as state frames at --state-publish-hz (default 30 Hz).
• Drops any per-arm command stream older than --watchdog-ms so the arm freezes when the operator UI stutters; the i2rt motor 400 ms safety timeout is the second line of defence.

The wire format is the same one consumed by the lerobot rfabric_remote teleoperator — both surfaces share the rfabric-control-wire package.