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Merged
juelg merged 10 commits into from
Aug 7, 2026
Merged

feat: yam integration #327

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cd10a9e
feat(sim): yam integration
juelg Aug 6, 2026
d925858
feat(extension): initial yam implementation
juelg Aug 7, 2026
fc5eec2
feat: yam example
juelg Aug 7, 2026
00d12c8
feat(yam): add quest teleop
juelg Aug 7, 2026
2ed0690
fix(yam): async
juelg Aug 7, 2026
0d3578f
feat(yam): dual arm support
juelg Aug 7, 2026
0ff974f
fix(yam): ruckig version
juelg Aug 7, 2026
eab8247
style: fix mypy
juelg Aug 7, 2026
2690888
feat(yaml): teleop example with cameras
juelg Aug 7, 2026
4bceb0e
fix(teleop): increase quest reqd frequency to avoid alias effect
juelg Aug 7, 2026
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202 changes: 202 additions & 0 deletions assets/robots/yam/yam.xml
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<!-- Kinematics, joint limits and gripper stroke match the i2rt yam v1 arm with the
linear_4310 gripper (i2rt/robot_models/arm/yam/v1 and gripper/linear_4310). -->
<mujoco model="yam">
<compiler angle="radian" meshdir="assets"/>

<option integrator="implicitfast"/>

<default>
<default class="yam">
<position inheritrange="1"/>
<joint frictionloss="0.1" axis="0 0 1"/>
<default class="dm4340">
<joint armature="0.032"/>
<position kp="40" kv="2.5" forcerange="-28 28"/>
</default>
<default class="dm4310">
<joint armature="0.0018"/>
<position kp="10" kv="1" forcerange="-10 10"/>
</default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" density="0" group="2" material="black"/>
</default>
<default class="collision">
<geom group="3" type="capsule"/>
<default class="sphere_collision">
<geom size="0.0006 0 0" type="sphere" rgba="1 0 0 1"/>
</default>
</default>
<default class="finger">
<joint type="slide" armature="0.1" frictionloss="0.1"/>
<position ctrlrange="0.0 0.0475" kp="100" kv="10" inheritrange="0"/>
</default>
</default>
</default>

<asset>
<material name="black" rgba="0.25 0.25 0.25 1"/>
<material name="white" rgba="0.9 0.9 0.9 1"/>

<mesh file="model2.stl"/>
<mesh file="model2__2.stl"/>
<mesh file="model2__3.stl"/>
<mesh file="model2__4.stl"/>
<mesh file="model2__5.stl"/>
<mesh file="model2__6.stl"/>
<mesh file="model2__7.stl"/>
<mesh file="model2__8.stl"/>
<mesh file="model2__9.stl"/>
<mesh file="model2__10.stl"/>
<mesh file="model2__11.stl"/>
<mesh file="model2__12.stl"/>
<mesh file="model2__13.stl"/>
<mesh file="model2__14.stl"/>
<mesh file="model2__15.stl"/>
<mesh file="model2__16.stl"/>
<mesh file="model2__17.stl"/>
</asset>

<worldbody>
<light name="spotlight" mode="targetbodycom" target="link_6" pos="0 0 1"/>
<body name="arm" childclass="yam">
<geom class="visual" pos="0 0 -0.0006" quat="1 0 0 1" mesh="model2"/>
<geom class="collision" size="0.033 0.01" pos="0.0 0.0 0.026" quat="1 0 0 0"/>
<body name="link_1" pos="0 0 0.068" quat="1 0 0 1">
<inertial pos="-0.00192861 -0.00795735 0.0208176" quat="0.297851 0.642634 0.360045 0.607185" mass="0.12415"
diaginertia="0.000180751 0.000145532 5.89179e-05"/>
<joint name="joint1" range="-2.61799 3.14159" class="dm4340"/>
<geom class="visual" pos="5.26159e-07 2.34355e-07 -0.0632" quat="1 0 0 0" mesh="model2__2"/>
<body name="link_2" pos="2.5e-05 -0.02 0.0455" quat="1 1 1 1" gravcomp="1">
<inertial pos="0.132008 2.10599e-06 0.000293073" quat="1 1 1 1" mass="1.24434"
diaginertia="0.0121902 0.0121318 0.000683304"/>
<joint name="joint2" range="0 3.66519" class="dm4340"/>
<geom class="visual" pos="0.0199992 -0.1041 -2.44738e-05" quat="1 -1 -1 -1" mesh="model2__3"/>
<geom class="visual" pos="0.0199992 -0.1041 -2.44738e-05" quat="1 -1 -1 -1" mesh="model2__4"/>
<geom class="visual" pos="0.0199992 -0.1041 -2.44738e-05" quat="1 -1 -1 -1" mesh="model2__5"
material="white"/>
<geom class="collision" size="0.032 0.11" pos="0.13 0 0" quat="1 0 1 0"/>
<geom class="collision" size="0.033 0.02" pos="0 0.0 0" quat="1 0 0 0"/>
<geom class="collision" size="0.033 0.025" pos="0.265 0 0" quat="1 0 0 0"/>
<body name="link_3" pos="0.264 0 0" quat="0 1 0 0" gravcomp="1">
<inertial pos="-0.121816 -0.054846 -0.000111108" quat="1 1 1 1" mass="0.853698"
diaginertia="0.00699732 0.00696112 0.000788244"/>
<joint name="joint3" range="0 3.14159" class="dm4340"/>
<geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__6"/>
<geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__7"/>
<geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__8"
material="white"/>
<geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__9"/>
<geom class="collision" size="0.034 0.12" pos="-0.14 -0.06 0.0" quat="1 0 1 0"/>
<geom class="collision" size="0.034 0.015" pos="-0.24 -0.06 0.0" quat="1 0 0 0"/>
<body name="link_4" pos="-0.245 -0.06 0" quat="1 0 0 0" gravcomp="1">
<inertial pos="-0.0769778 -0.0527104 0.000154878" quat="0.667 0.667 -0.236 -0.236" mass="0.463511"
diaginertia="0.000791532 0.000744733 0.000282116"/>
<joint name="joint4" range="-1.69297 1.5708" class="dm4310"/>
<geom class="visual" pos="0.00100023 0.164101 2.44738e-05" quat="1 1 1 -1" mesh="model2__10"/>
<geom class="collision" size="0.03 0.015" pos="-0.073 -0.06 0.0" quat="1 1 0 0"/>
<body name="link_5" pos="-0.074 -0.0395 2.5e-05" quat="1 -1 1 1" gravcomp="1">
<inertial pos="3.64861e-05 0.00025665 0.0353526" quat="1 0 0 0" mass="0.350962"
diaginertia="0.000197802 0.0001775 0.000147402"/>
<joint name="joint5" range="-1.5708 1.5708" class="dm4310"/>
<geom class="visual" pos="0 -0.0749971 0.203601" quat="1.32679e-06 1 0 0" mesh="model2__11"/>
<geom class="collision" size="0.030 0.015" pos="0 0.025 0.0395" quat="1 1 0 0"/>
<body name="link_6" pos="0 0.0353 0.0395" quat="1 -1 0 0" gravcomp="1">
<inertial pos="-0.000217767 7.37059e-05 0.0270545" quat="1 1 0 0" mass="0.367476"
diaginertia="0.000265958 0.000242686 0.000227409"/>
<joint name="joint6" range="-2.0944 2.0944" class="dm4310"/>
<geom class="visual" pos="0 -0.164101 -0.110597" quat="1 -1 0 0" mesh="model2__12"/>
<geom class="visual" pos="0 -0.164101 -0.110597" quat="1 -1 0 0" mesh="model2__13"/>
<geom class="collision" size="0.01 0.035" pos="0 0.039 0.052" quat="1 0 1 0"/>
<geom class="collision" size="0.030 0.005" pos="0 0.0 0.03" quat="1 0 0 1"/>
<geom class="collision" size="0.01 0.035" pos="0 -0.039 0.052" quat="1 0 1 0"/>
<site name="tcp_site" pos="0 0 0" quat="1 0 0 -1" size="0.005" rgba="1 0 0 1" group="4"/>
<site name="grasp_site" pos="0 0 0.1347" quat="1 0 0 -1" size="0.005" rgba="0 1 0 1" group="4"/>
<body name="link_left_finger" pos="-0.037 0.0392 0.0605" quat="1 0 1 0" gravcomp="1">
<inertial pos="-0.0192995 -0.0365902 0.039774" quat="0.757351 0.568898 -0.3199 0.0" mass="0.118"
diaginertia="0.000159084 0.000154909 4.63655e-05"/>
<joint class="finger" name="left_finger" range="0 0.0475"/>
<geom class="visual" pos="0.171097 -0.203301 0.037" quat="1 -1 -1 -1" mesh="model2__14"/>
<geom class="visual" pos="0.171097 -0.203301 0.037" quat="1 -1 -1 -1" mesh="model2__15"/>
<body name="lf_rot" quat="1 -1 -1 1" pos="0.0 -0.0392 0.037" gravcomp="1">
<geom class="collision" size="0.01 0.03" pos="0.0 -0.02 0.012" quat="1 0 1 0"
rgba="0.381493 0.492734 0.780446 1"/>
<geom class="collision" size="0.01 0.02" pos="-0.02 -0.01 0.032" quat="1 0 2.5 0"
rgba="0.381493 0.492734 0.780446 1"/>
<body name="lf_down" quat="1 0 0 0" pos="-0.044 0.0 0.0" gravcomp="1">
<geom class="collision" size="0.01 0.01" pos="0.0 -0.020 0.012" quat="1 -0.1 0 0"
rgba="0.381493 0.492734 0.780446 1"/>
<geom class="collision" size="0.003 0.022" pos="0.005 -0.014 0.04" quat="1 -0.2 0 0"
rgba="0.381493 0.492734 0.780446 1"/>
<geom class="collision" size="0.003 0.022" pos="-0.005 -0.014 0.04" quat="1 -0.2 0 0"
rgba="0.381493 0.492734 0.780446 1"/>
<geom class="collision" type="box" size="0.006 0.002 0.04" pos="0 -0.0024 0.046" quat="1 0 0 0"
rgba="0.381493 0.492734 0.780446 1"/>
<geom class="collision" type="box" size="0.006 0.002 0.039" pos="0.027 -0.0024 0.053"
quat="1 0 2.5 0" rgba="0.381493 0.492734 0.780446 1"/>
<geom class="sphere_collision" pos="0.003 -0.0004 0.078"/>
<geom class="sphere_collision" pos="-0.003 -0.0004 0.078"/>
<geom class="sphere_collision" pos="0.003 -0.0004 0.07"/>
<geom class="sphere_collision" pos="-0.003 -0.0004 0.07"/>
<geom class="sphere_collision" pos="0.003 -0.0004 0.06"/>
<geom class="sphere_collision" pos="-0.003 -0.0004 0.06"/>
</body>
</body>
</body>
<body name="link_right_finger" pos="0.037 -0.0392 0.0605" quat="1 0 1 0" gravcomp="1">
<inertial pos="-0.0192995 0.0365902 -0.039774" quat="-0.757351 0.568898 -0.3199 0" mass="0.118"
diaginertia="0.000159084 0.000154909 4.63655e-05"/>
<joint class="finger" name="right_finger" range="-0.0475 0"/>
<geom class="visual" pos="0.171097 -0.124901 -0.037" quat="1 -1 -1 -1" mesh="model2__16"/>
<geom class="visual" pos="0.171097 -0.124901 -0.037" quat="1 -1 -1 -1" mesh="model2__17"/>
<body name="rf_rot" quat="1 1 -1 -1" pos="0.0 0.0392 -0.037" gravcomp="1">
<geom class="collision" size="0.01 0.03" pos="0.0 -0.02 0.012" quat="1 0 1 0"
rgba="0.381493 0.492734 0.780446 1"/>
<geom class="collision" size="0.01 0.02" pos="0.02 -0.01 0.032" quat="1 0 -2.5 0"
rgba="0.381493 0.492734 0.780446 1"/>
<body name="rf_down" quat="1 0 0 0" pos="0.044 0.0 0.0" gravcomp="1">
<geom class="collision" size="0.01 0.01" pos="0.0 -0.020 0.012" quat="1 -0.1 0 0"
rgba="0.381493 0.492734 0.780446 1"/>
<geom class="collision" size="0.003 0.022" pos="0.005 -0.014 0.04" quat="1 -0.2 0 0"
rgba="0.381493 0.492734 0.780446 1"/>
<geom class="collision" size="0.003 0.022" pos="-0.005 -0.014 0.04" quat="1 -0.2 0 0"
rgba="0.381493 0.492734 0.780446 1"/>
<geom class="collision" type="box" size="0.006 0.002 0.04" pos="0 -0.0024 0.046" quat="1 0 0 0"
rgba="0.381493 0.492734 0.780446 1"/>
<geom class="collision" type="box" size="0.006 0.002 0.039" pos="-0.027 -0.0024 0.053"
quat="1 0 -2.5 0" rgba="0.381493 0.492734 0.780446 1"/>
<geom class="sphere_collision" pos="0.003 -0.0004 0.078"/>
<geom class="sphere_collision" pos="-0.003 -0.0004 0.078"/>
<geom class="sphere_collision" pos="0.003 -0.0004 0.07"/>
<geom class="sphere_collision" pos="-0.003 -0.0004 0.07"/>
<geom class="sphere_collision" pos="0.003 -0.0004 0.06"/>
<geom class="sphere_collision" pos="-0.003 -0.0004 0.06"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>

<equality>
<joint joint1="left_finger" joint2="right_finger" polycoef="0 -1 0 0 0"/>
</equality>

<actuator>
<position name="joint1" joint="joint1" class="dm4340"/>
<position name="joint2" joint="joint2" class="dm4340"/>
<position name="joint3" joint="joint3" class="dm4340"/>
<position name="joint4" joint="joint4" class="dm4310" kp="20" kv=".5"/>
<position name="joint5" joint="joint5" class="dm4310"/>
<position name="joint6" joint="joint6" class="dm4310"/>
<position class="finger" name="gripper" joint="left_finger"/>
</actuator>

<keyframe>
<key name="home" qpos="0 1.047 1.047 0 0 0 0 0" ctrl="0 1.047 1.047 0 0 0 0"/>
</keyframe>
</mujoco>
1 change: 1 addition & 0 deletions docs/extensions/index.md
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Expand Up @@ -10,6 +10,7 @@ rcs_panda
rcs_xarm7
rcs_ur5e
rcs_so101
rcs_yam
rcs_realsense
rcs_usb_cam
rcs_tacto
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1 change: 1 addition & 0 deletions docs/extensions/overview.md
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Expand Up @@ -33,6 +33,7 @@ RCS comes with several supported extensions:
- **rcs_xarm7**: Support for the xArm7 robot.
- **rcs_ur5e**: Support for the UR5e robot.
- **rcs_so101**: Support for the SO101 robot.
- **rcs_yam**: Support for the I2RT YAM arm.
- **rcs_realsense**: Support for Intel RealSense cameras.
- **rcs_usb_cam**: Support for generic USB webcams.
- **rcs_tacto**: Integration with the Tacto tactile sensor simulator.
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60 changes: 60 additions & 0 deletions docs/extensions/rcs_yam.md
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# RCS YAM Extension

This extension provides support for the I2RT YAM arm in RCS, built on the
[i2rt](https://github.com/i2rt-robotics/i2rt) Python driver.

## Installation

`i2rt` is not published on PyPI and is pinned as a direct git reference, so this extension is
installed from a checkout:

```shell
pip install -ve . --no-build-isolation
pip install -ve extensions/rcs_yam
```

Bring up the CAN interface of the arm before use:

```shell
sudo ip link set can0 up type can bitrate 1000000
```

## Usage

```python
from rcs.envs.base import ControlMode
from rcs_yam.configs import DefaultYamHardwareEnv

env_creator = DefaultYamHardwareEnv()
env_creator.channel = "can0"

cfg = env_creator.config()
cfg.control_mode = ControlMode.JOINTS
cfg.robot_cfg.async_control = False

env = env_creator.create_env(cfg)
obs, info = env.reset()
```

## Sync and async control

The i2rt driver runs its PD control loop in a background thread. With
`YamConfig.async_control=True` the RCS setters return as soon as the target is handed over, with
`async_control=False` they poll the measured state until the target is reached or the timeout hits.
`move_home` interpolates the motion and always blocks.

## Notes

- Arm and gripper share one motor chain, since i2rt exposes the gripper motor as the last entry of
the arm's chain. The gripper is created from the same robot instance.
- The `linear_4310` gripper calibrates on startup and drives the fingers to both end stops unless
`gripper_limits_override` is set.
- There is no compliant force control and no trajectory generation in the driver. Targets further
than `max_joint_step` away are ramped rather than sent as a step.
- The simulated counterpart is registered as `rcs/yam` in core RCS and shares the kinematics, joint
limits and gripper stroke of the hardware.

See `extensions/rcs_yam/README.md` for the full extension documentation and
`extensions/rcs_yam/src/rcs_yam/scripts/test_robot.py` for a bring-up script. For a maintained
example, see `examples/yam/yam_env_cartesian_control.py`, which moves the TCP forward and backward in
synchronous Cartesian mode in simulation or on hardware.
8 changes: 8 additions & 0 deletions examples/teleop/README.md
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Expand Up @@ -49,6 +49,14 @@ Note that dual arm is only supported for a aloha like setup where the robot face
9. Start the teleoperation script [`franka.py`](franka.py) and enjoy.


## Teleoperation of a YAM with Meta Quest 3
[`yam.py`](yam.py) is the same setup for a single [YAM](https://robotcontrolstack.org/extensions/rcs_yam) arm.
Follow the quest steps above, they are identical, and align the coordinate axis to the arm base (x front, y left, z up).
The arm follows the right controller, so keep `ROBOT_NAME = "right"` unless you also change the controller mapping.
1. install the [YAM extension](https://robotcontrolstack.org/extensions/rcs_yam) and bring up its CAN interface (`sudo ip link set can0 up type can bitrate 1000000`)
2. go to [`yam.py`](yam.py), set `ROBOT_INSTANCE = RobotPlatform.HARDWARE` and set `CAN_CHANNEL` to your interface, or keep `RobotPlatform.SIMULATION` to try it in sim first
3. to record RealSense cameras, install the [RealSense extension](https://robotcontrolstack.org/extensions/rcs_realsense) and put your camera serial numbers (`rs-enumerate-devices -s`) into `CAMERA_DICT`, or set it to `None` to run without cameras

## Teleoperation with Franka GELLO Duo
Teleoperate your Franka Duo using the [Franka GELLO Duo](https://franka.de/de-de/product-prototypes).
Install dependencies via
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1 change: 1 addition & 0 deletions examples/teleop/franka.py
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Expand Up @@ -77,6 +77,7 @@
simulation=ROBOT_INSTANCE == RobotPlatform.SIMULATION,
switched_left_right=False,
display_cameras=False,
read_frequency=90,
)
# config = GelloConfig(
# arms={
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