YAM support with YAM Gello#51
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* WIP: changes for PR * yam support partial * added i2rt * yam teleop mostly working * working teleop and start, updated offsets * updated documentation * updated docs * minor read-me changes * Delete MJDATA.TXT * Delete vibecoded documentation garbage * Delete experiments/launch_leader_follower.py * Delete experiments/run_leader_follower.py * uncommented asserts * updated config * updated joint angles * Update scripts/arm_blocks_play.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * deleted some more files-need to do more + fix blocks * Delete scripts/yam_blocks_play.py * Delete main.py * reverted driver.py to maain * sim_robot reverted * reset gello offset * readme yam offset joint len change * gello offset change again * remove .toml * update after arena.xml removal * some pr changes - improved documentation, removed dead code, co-pilot suggestions * track image readme * removed stuff * updated docs * updates * doc changes and updates * documentation updates * ran precommits * reverted changes made to ros2 by precommit, updated documentation * minor fixes --------- Co-authored-by: Hardik Maheshwari <hardikmahesh21@gmail.com> Co-authored-by: hmahesh007 <117243377+hmahesh007@users.noreply.github.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* WIP: changes for PR * yam support partial * added i2rt * yam teleop mostly working * working teleop and start, updated offsets * updated documentation * updated docs * minor read-me changes * Delete MJDATA.TXT * Delete garbage documentation * Delete experiments/launch_leader_follower.py * Delete experiments/run_leader_follower.py * uncommented asserts * updated config * updated joint angles * Update scripts/arm_blocks_play.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * deleted some more files-need to do more + fix blocks * Delete scripts/yam_blocks_play.py * Delete main.py * reverted driver.py to maain * sim_robot reverted * reset gello offset * readme yam offset joint len change * gello offset change again * remove .toml * update after arena.xml removal * some pr changes - improved documentation, removed dead code, co-pilot suggestions * track image readme * removed stuff * updated docs * updates * doc changes and updates * documentation updates * ran precommits * reverted changes made to ros2 by precommit, updated documentation * minor fixes * test yaml addon - commented out motor timeout enambled for testing * actually added luanchyamml.py and configs to track * basic yaml test * numpy array check * sim debugging 1 * added test_sim yaml to track * yam yaml sim working mostly * added yaml documentation to readme * typo * tested working with UR. code cleanup needed * renabled motor timeout line yam.py * auto yaml * auto yaml minor * updated auto yaml * auto gen testing * updated auto yaml * testing binary writing into yaml * updated auto yaml fixed format * test launch yaml fixes for joint start * working autogenerated yamls * minor * updated readme and finalized stuff * minor * fixed joint sign inconsistency in gello_agent.py * Delete arena.xml * Delete README_old_2.md * image update * minor readme update * readme update * template changes * cleaned up formatting in generate yam config * tried to make some fixes * working on integrated robot launcher * removed new test stuff and fixed float int bug in template generation * barely working bimanual * some things work sometimes * first data saving attempt * moved data saved to data in root of project * update readme * minor * TOC and stuff * avoids race conditions, correctly cleans up resources * switched to tyro for launch_yaml.py, added reference yamls * updated readme * moved stuff back out * Delete arena.xml * updated requirements.txt * rolled back lint changes to ros2 * readme fix * removed motor timeout comments from yam.py * Apply suggestion from @Copilot Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * updated whitespace * added CAN instrucitons to readme * Update scripts/generate_yam_config.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update scripts/launch_yaml.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * minor * added close to zmqclientrobot * fixed threading shutdown race condition * removed timeout * removed try * nitpick xam sim test space * util class first try * made move to start position a working util * testing new run_env refactor * readme * readme minor * readme * readme updates * removed magic numbers, bugfix * minor * optimizations * moved main to bottom * moved dynamixel improvements to driver from launch_utils.py * confirmed new dynamixel drivers work, not called legacy anymore * Delete gello/utils/README_control_utils.md * comm error recovery changes * updated readme * Revert "comm error recovery changes" This reverts commit ed4d473. * slower moving to start * removed old readme * added comment explaining why we have cleanup * added comment explaining why we have cleanup --------- Co-authored-by: Hardik Maheshwari <hardikmahesh21@gmail.com> Co-authored-by: hmahesh007 <117243377+hmahesh007@users.noreply.github.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
wuphilipp
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Looks good! Thanks for the contribution
neunertm
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Feb 24, 2026
GitOrigin-RevId: 53f3e21
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Added support for the I2RT YAM arm