Skip to content

YAM support with YAM Gello #51

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
wuphilipp merged 5 commits into from
Aug 1, 2025
Merged

YAM support with YAM Gello #51

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
e16f65f
[SWE-142] Added YAM support and documentation (#3)
jyliu24 Jul 15, 2025
9945161
rewrote readme
jyliu24 Jul 23, 2025
0e4e6ed
new readme
jyliu24 Jul 23, 2025
ec9edaf
[SWE-452] YAML configs, YAM GELLO updates (#4)
jyliu24 Jul 31, 2025
d3e64ec
Merge remote-tracking branch 'yam_gello/main' into sync-from-yam_gello
jyliu24 Jul 31, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 4 additions & 1 deletion .gitignore
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,4 +31,7 @@ MUJOCO_LOG.TXT
#ros
ros2/build/
ros2/install/
ros2/log/
ros2/log/

# robot packages
third_party/i2rt/
387 changes: 265 additions & 122 deletions README.md
View file
Open in desktop

Large diffs are not rendered by default.

15 changes: 15 additions & 0 deletions configs/references/yam_auto_generated.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
robot:
_target_: gello.robots.yam.YAMRobot
channel: can_left
agent:
_target_: gello.agents.gello_agent.GelloAgent
port: /dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTA2U4GA-if00-port0
dynamixel_config:
_target_: gello.agents.gello_agent.DynamixelRobotConfig
joint_ids: [1, 2, 3, 4, 5, 6]
joint_offsets: [6.28319, 4.71239, 6.28319, 3.14159, 1.5708, 3.14159]
joint_signs: [1.0, -1.0, -1.0, -1.0, 1.0, 1.0]
gripper_config: [7, -33.748046875, 25.751953125]
start_joints: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
hz: 30
max_steps: 1000
17 changes: 17 additions & 0 deletions configs/references/yam_auto_generated_sim.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
robot:
_target_: gello.robots.sim_robot.MujocoRobotServer
xml_path: third_party/mujoco_menagerie/i2rt_yam/yam.xml
gripper_xml_path: null
host: 127.0.0.1
port: 6001
agent:
_target_: gello.agents.gello_agent.GelloAgent
port: /dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTA2U4GA-if00-port0
dynamixel_config:
_target_: gello.agents.gello_agent.DynamixelRobotConfig
joint_ids: [1, 2, 3, 4, 5, 6]
joint_offsets: [6.28319, 4.71239, 6.28319, 3.14159, 1.5708, 3.14159]
joint_signs: [1.0, -1.0, -1.0, -1.0, 1.0, 1.0]
gripper_config: [7, -33.748046875, 25.751953125]
start_joints: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
hz: 30
20 changes: 20 additions & 0 deletions configs/templates/yam_sim_template.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,20 @@
# Simulation configuration for YAM robot - equivalent to sim_yam + gello
robot:
_target_: gello.robots.sim_robot.MujocoRobotServer
xml_path: "third_party/mujoco_menagerie/i2rt_yam/yam.xml"
gripper_xml_path: null
host: "127.0.0.1"
port: 6001

agent:
_target_: gello.agents.gello_agent.GelloAgent
port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTA2U4GA-if00-port0"
dynamixel_config:
_target_: gello.agents.gello_agent.DynamixelRobotConfig
joint_ids: [1, 2, 3, 4, 5, 6]
joint_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
joint_signs: [1, -1, -1, -1, 1, 1]
gripper_config: [7, 0, 0]
start_joints: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]

hz: 30
17 changes: 17 additions & 0 deletions configs/templates/yam_template.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
robot:
_target_: gello.robots.yam.YAMRobot
channel: "can_left"

agent:
_target_: gello.agents.gello_agent.GelloAgent
port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTA2U4GA-if00-port0"
dynamixel_config:
_target_: gello.agents.gello_agent.DynamixelRobotConfig
joint_ids: [1, 2, 3, 4, 5, 6]
joint_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
joint_signs: [1, -1, -1, -1, 1, 1]
gripper_config: [7, 0, 0]
start_joints: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]

hz: 30
max_steps: 1000
27 changes: 27 additions & 0 deletions configs/xarm_sim_test.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,27 @@
robot:
_target_: gello.robots.sim_robot.MujocoRobotServer
xml_path: "third_party/mujoco_menagerie/ufactory_xarm7/xarm7.xml"
gripper_xml_path: null
host: "127.0.0.1"
port: 6001

agent:
_target_: gello.agents.gello_agent.GelloAgent
port: "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTA2U4GA-if00-port0"
dynamixel_config:
_target_: gello.agents.gello_agent.DynamixelRobotConfig
joint_ids: [1, 2, 3, 4, 5, 6, 7]
joint_offsets: [
3.142,
4.712,
6.283,
3.142,
4.71239,
3.142,
-4.712
]
joint_signs: [1, -1, 1, 1, 1, -1, 1]
gripper_config: [8, 195, 152]
start_joints: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

hz: 30
15 changes: 15 additions & 0 deletions configs/yam_active.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
robot:
_target_: gello.robots.yam.YAMRobot
channel: "can_right"
agent:
_target_: gello.agents.gello_agent.GelloAgent
port: /dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTAA0B5Y-if00-port0
dynamixel_config:
_target_: gello.agents.gello_agent.DynamixelRobotConfig
joint_ids: [1, 2, 3, 4, 5, 6]
joint_offsets: [3.14159, 3.14159, 3.14159, 3.14159, 3.14159, 3.14159]
joint_signs: [1.0, -1.0, 1.0, 1.0, 1.0, 1.0]
gripper_config: [7, -34.1875, 25.3125]
start_joints: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
hz: 30
max_steps: 1000
15 changes: 15 additions & 0 deletions configs/yam_passive.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
robot:
_target_: gello.robots.yam.YAMRobot
channel: can_left
agent:
_target_: gello.agents.gello_agent.GelloAgent
port: /dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTA2U4GA-if00-port0
dynamixel_config:
_target_: gello.agents.gello_agent.DynamixelRobotConfig
joint_ids: [1, 2, 3, 4, 5, 6]
joint_offsets: [6.28319, 4.71239, 6.28319, 3.14159, 1.5708, 3.14159]
joint_signs: [1.0, -1.0, -1.0, -1.0, 1.0, 1.0]
gripper_config: [7, -34.1875, 25.3125]
start_joints: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
hz: 30
max_steps: 1000
15 changes: 15 additions & 0 deletions experiments/launch_nodes.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,17 @@ def launch_robot_server(args: Args):
xml_path=xml, gripper_xml_path=gripper_xml, port=port, host=args.hostname
)
server.serve()
elif args.robot == "sim_yam":
MENAGERIE_ROOT: Path = (
Path(__file__).parent.parent / "third_party" / "mujoco_menagerie"
)
xml = MENAGERIE_ROOT / "i2rt_yam" / "yam.xml"
from gello.robots.sim_robot import MujocoRobotServer

server = MujocoRobotServer(
xml_path=xml, gripper_xml_path=None, port=port, host=args.hostname
)
server.serve()
elif args.robot == "sim_panda":
from gello.robots.sim_robot import MujocoRobotServer

Expand Down Expand Up @@ -74,6 +85,10 @@ def launch_robot_server(args: Args):
_robot_l = URRobot(robot_ip="192.168.2.10")
_robot_r = URRobot(robot_ip="192.168.1.10")
robot = BimanualRobot(_robot_l, _robot_r)
elif args.robot == "yam":
from gello.robots.yam import YAMRobot

robot = YAMRobot(channel="can0")
elif args.robot == "none" or args.robot == "print":
robot = PrintRobot(8)

Expand Down
Loading