I2RT Python API

A Python client library for interacting with I2RT products, designed with simplicity and extensibility in mind.

Features

• Plug and play python interface for I2RT robots
• Real-time robot control via CAN bus communication
• Support for directly communicating with motor (DM series motors)
• Visualization and gravity compensation using MuJoCo physics engine

Installation

pip install -e .

Basic CAN Usage

Plug in the CAN device and run the following command to check the available CAN devices.

ls -l /sys/class/net/can*

This should give you something like this

lrwxrwxrwx 1 root root 0 Jul 15 14:35 /sys/class/net/can0 -> ../../devices/platform/soc/your_can_device/can0

Where can0 is the CAN device name.

You need to bring up the CAN interface with

sudo ip link set can0 up type can bitrate 1000000

We have provided a convenience script to reset all CAN devices. Simply run

sh scripts/reset_all_can.sh

See set_persist_id_socket_can.md if you want to set persistent CAN device names

Test YAM Zero Gravity mode

python i2rt/robots/motor_chain_robot.py --model yam --channel can0 --operation_mode gravity_comp

YAM Robot Arm Usage

Getting started

from i2rt.robots.motor_chain_robot import get_yam_robot

# Get a robot instance
robot = get_yam_robot(channel="can0")

# Get the current joint positions
joint_pos = robot.get_joint_pos()

# Command the robot to move to a new joint position
target_pos = np.array([0, 0, 0, 0, 0, 0, 0])

# Command the robot to move to the target position
robot.command_joint_pos(target_pos)

Running the arm and visualizing it

To launch the follower robot run.

python scripts/minimum_gello.py --mode follower

To launch the robot mujoco visualizer run

python scripts/minimum_gello.py --mode visualizer

Running the arm on controlling it leader follower style

This requires 2 robot arms.

To launch the follower robot run

python scripts/minimum_gello.py --mode follower --can_channel can0

To launch the leader robot run

python scripts/minimum_gello.py --mode leader  --can_channel can0

Flow Base Usage

Running the demo

You can control your flow base using a game controller. To run the joystick demo, run the following command.

python i2rt/flow_base/flow_base_controller.py

Getting started

from i2rt.flow_base.flow_base_controller import Vehicle

# Get a robot instance
vehicle = Vehicle()
vehicle.start_control()

# move forward slowly for 1 second
start_time = time.time()
while time.time() - start_time < 1:
    user_cmd = (0.1, 0, 0)
    vehicle.set_target_velocity(user_cmd, frame="local")

Contributing

We welcome contributions! Please make a PR.

License

This project is licensed under the MIT License - see the LICENSE file for details.

Support

• Contact: support@i2rt.com

Acknowledgments

• TidyBot++ - Flow base hardware and code is inspired by TidyBot++
• GELLO - Robot arm teleop is inspired by GELLO