dreamscale-i2rt 1.1.2.post1__tar.gz

dreamscale_i2rt-1.1.2.post1/LICENSE

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+MIT License
+
+Copyright (c) I2RT Robotics
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

dreamscale_i2rt-1.1.2.post1/PKG-INFO

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+Metadata-Version: 2.4
+Name: dreamscale-i2rt
+Version: 1.1.2.post1
+Summary: Dreamscale's maintained build of the I2RT YAM arm and Flow Base Python driver.
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-Expression: MIT
+License-File: LICENSE
+Requires-Dist: crcmod-plus>=2.3.1
+Requires-Dist: dm-env>=1.6
+Requires-Dist: mink>=0.0.13
+Requires-Dist: mujoco>=3.3.5
+Requires-Dist: numpy>=1.26,<3
+Requires-Dist: packaging
+Requires-Dist: pydantic>=2.0
+Requires-Dist: python-can>=4.5,<5
+Requires-Dist: pyyaml>=6.0.0
+Requires-Dist: qpsolvers[quadprog]>=4.7.1
+Requires-Dist: tyro>=1.0.0
+Requires-Dist: dreamscale-i2rt[flow-base, gamepad, viz, gpio, scripts] ; extra == "all"
+Requires-Dist: dreamscale-i2rt[all] ; extra == "dev"
+Requires-Dist: pyright>=1.1.408 ; extra == "dev"
+Requires-Dist: pytest>=8.4.0 ; extra == "dev"
+Requires-Dist: pytest-xdist>=3.8.0 ; extra == "dev"
+Requires-Dist: ruff>=0.15.6 ; extra == "dev"
+Requires-Dist: portal>=3.7.3 ; extra == "flow-base"
+Requires-Dist: pygame>=2.6.1 ; extra == "flow-base"
+Requires-Dist: ruckig>=0.15.3 ; extra == "flow-base"
+Requires-Dist: threadpoolctl>=3.6.0 ; extra == "flow-base"
+Requires-Dist: pygame>=2.6.1 ; extra == "gamepad"
+Requires-Dist: pyserial>=3.5 ; extra == "gpio"
+Requires-Dist: rpi-lgpio>=0.6 ; extra == "gpio" and ( sys_platform == 'linux' and (platform_machine == 'aarch64' or platform_machine == 'armv7l' or platform_machine == 'armv6l'))
+Requires-Dist: click>=8.0 ; extra == "scripts"
+Requires-Dist: mcap-ros2-support>=0.5.5 ; extra == "scripts"
+Requires-Dist: rerun-sdk>=0.32.2 ; extra == "viz"
+Requires-Dist: viser>=0.2.0 ; extra == "viz"
+Project-URL: Source, https://github.com/Dreamscale-Labs/dreamscale-i2rt
+Project-URL: Upstream, https://github.com/i2rt-robotics/i2rt
+Provides-Extra: all
+Provides-Extra: dev
+Provides-Extra: flow-base
+Provides-Extra: gamepad
+Provides-Extra: gpio
+Provides-Extra: scripts
+Provides-Extra: viz
+
+# dreamscale-i2rt
+
+Dreamscale Labs' maintained build of the [I2RT Python API](https://github.com/i2rt-robotics/i2rt),
+published to PyPI so the YAM driver installs like any other package:
+
+```bash
+pip install dreamscale-i2rt
+```
+
+It installs the same `i2rt` import package, so it replaces an upstream `i2rt` install in the same
+environment rather than sitting beside it. The core install is what YAM arm control needs; the
+Flow Base, gamepad, visualisation, GPIO and script dependencies are extras
+(`flow-base`, `gamepad`, `viz`, `gpio`, `scripts`, or `all`).
+
+This is a fork. I2RT Robotics wrote the original code under the MIT licence; see [LICENSE](LICENSE).
+Releases are tagged `v<version>` and published from [publish.yml](.github/workflows/publish.yml).
+
+---
+
+# I2RT Python API
+
+A Python client library for interacting with [I2RT](https://i2rt.com/) products — designed for learning-based robotics, teleoperation, and real-world deployment.
+
+[![I2RT](https://github.com/user-attachments/assets/025ac3f0-7af1-4e6f-ab9f-7658c5978f92)](https://i2rt.com/)
+
+> 📚 **Full documentation:** [doc.i2rt.com](https://doc.i2rt.com)
+
+## Features
+
+- Plug-and-play Python interface for YAM arms and Flow Base
+- Real-time robot control via CAN bus (DM series motors)
+- MuJoCo gravity compensation, simulation, and URDF/MJCF models
+- Gripper force control and auto-calibration
+- Bimanual teleoperation and trajectory record & replay
+- Policy-deployment ready — works with standard robot learning pipelines
+
+## Installation
+
+```bash
+git clone https://github.com/i2rt-robotics/i2rt.git && cd i2rt
+curl -LsSf https://astral.sh/uv/install.sh | sh
+source $HOME/.local/bin/env
+uv venv --python 3.11
+source .venv/bin/activate
+```
+
+```bash
+sudo apt update
+sudo apt install build-essential python3-dev linux-headers-$(uname -r)
+uv pip install -e .
+```
+
+## CAN Bus Setup
+
+```bash
+# Check detected CAN devices
+ls -l /sys/class/net/can*
+
+# Bring up interface at 1 Mbit/s
+sudo ip link set can0 up type can bitrate 1000000
+
+# Auto-enable on boot
+sudo sh devices/install_devices.sh
+
+# Reset unresponsive adapter
+sh scripts/reset_all_can.sh
+```
+
+## YAM Arm
+
+### Zero-gravity mode
+
+```bash
+python i2rt/robots/motor_chain_robot.py --channel can0 --gripper linear_4310
+```
+
+### Python API
+
+```python
+from i2rt.robots.get_robot import get_yam_robot
+from i2rt.robots.utils import GripperType
+import numpy as np
+
+robot = get_yam_robot(channel="can0", gripper_type=GripperType.LINEAR_4310)
+
+# Read joint positions (radians)
+q = robot.get_joint_pos()   # shape: (6,)
+
+# Command a target configuration
+robot.command_joint_pos(np.zeros(6))
+```
+
+### Leader-follower teleoperation
+
+```bash
+# Follower arm
+python examples/minimum_gello/minimum_gello.py --gripper linear_4310 --mode follower --can-channel can0 --bilateral-kp 0.2
+
+# Leader arm (teaching handle)
+python examples/minimum_gello/minimum_gello.py --gripper yam_teaching_handle --mode leader --can-channel can1 --bilateral-kp 0.2
+```
+
+- **Top button (press once):** enable synchronisation — follower tracks leader
+- **Top button (press again):** disable synchronisation
+- `--bilateral-kp` controls resistance felt on the leader (0.1–0.2 recommended)
+
+To inspect leader arm output:
+
+```bash
+python scripts/run_yam_leader.py --channel $CAN_CHANNEL
+```
+
+### MuJoCo visualiser
+
+```bash
+python examples/minimum_gello/minimum_gello.py --mode visualizer_local
+```
+
+## Gripper Types
+
+| Gripper | Motor | Notes |
+|---------|-------|-------|
+| `crank_4310` | DM4310 | Zero-linkage crank — minimises gripper width |
+| `linear_3507` | DM3507 | Lightweight linear; start closed or run calibration |
+| `linear_4310` | DM4310 | Standard linear; slightly more force than 3507 |
+| `yam_teaching_handle` | — | Leader arm handle with trigger + 2 buttons. |
+
+The linear grippers require calibration because their motor travels more than 2π radians over the full stroke — either start with the gripper fully closed, or run the calibration routine.
+
+## Flow Base
+
+```bash
+# Joystick demo
+python i2rt/flow_base/flow_base_controller.py
+```
+
+```python
+from i2rt.flow_base.flow_base_client import FlowBaseClient
+
+client = FlowBaseClient(host="172.6.2.20")
+client.set_target_velocity([0.1, 0.0, 0.0], frame="local")
+```
+
+## Examples
+
+| Example | Location |
+|---------|----------|
+| Bimanual lead-follower | `examples/bimanual_lead_follower/` |
+| Record & replay trajectory | `examples/record_replay_trajectory/` |
+| Single motor PD control | `examples/single_motor_position_pd_control/` |
+| MuJoCo control interface | `examples/control_with_mujoco/` |
+
+## Advanced: Motor Configuration
+
+### Safety timeout
+
+The factory default is a **400 ms timeout** — motors enter damping mode if no command is received within 400 ms.
+
+```bash
+# Disable timeout (advanced users only — run twice)
+python i2rt/motor_config_tool/set_timeout.py --channel can0
+python i2rt/motor_config_tool/set_timeout.py --channel can0
+
+# Re-enable timeout
+python i2rt/motor_config_tool/set_timeout.py --channel can0 --timeout
+```
+
+> ⚠️ Without the timeout, a failed gravity-compensation loop can produce uncontrolled torque. If you disable it, always initialise with a PD target:
+> ```python
+> robot = get_yam_robot(channel="can0", zero_gravity_mode=False)
+> ```
+
+### Zero motor offsets
+
+```bash
+python i2rt/motor_config_tool/set_zero.py --channel can0 --motor_id 1
+```
+
+Run for each motor ID (1–6 for a standard YAM).
+
+## Contributing
+
+Pull requests welcome. Open an issue to request examples or report bugs.
+
+## License
+
+MIT License — see [LICENSE](LICENSE).
+
+## Support
+
+- Email: support@i2rt.com
+- Sales: sales@i2rt.com
+
+## Acknowledgments
+
+- [TidyBot++](https://github.com/jimmyyhwu/tidybot2) — Flow Base hardware and control inspired by TidyBot++
+- [GELLO](https://github.com/wuphilipp/gello_software) — Teleoperation design inspired by GELLO
+

dreamscale_i2rt-1.1.2.post1/README.md

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+# dreamscale-i2rt
+
+Dreamscale Labs' maintained build of the [I2RT Python API](https://github.com/i2rt-robotics/i2rt),
+published to PyPI so the YAM driver installs like any other package:
+
+```bash
+pip install dreamscale-i2rt
+```
+
+It installs the same `i2rt` import package, so it replaces an upstream `i2rt` install in the same
+environment rather than sitting beside it. The core install is what YAM arm control needs; the
+Flow Base, gamepad, visualisation, GPIO and script dependencies are extras
+(`flow-base`, `gamepad`, `viz`, `gpio`, `scripts`, or `all`).
+
+This is a fork. I2RT Robotics wrote the original code under the MIT licence; see [LICENSE](LICENSE).
+Releases are tagged `v<version>` and published from [publish.yml](.github/workflows/publish.yml).
+
+---
+
+# I2RT Python API
+
+A Python client library for interacting with [I2RT](https://i2rt.com/) products — designed for learning-based robotics, teleoperation, and real-world deployment.
+
+[![I2RT](https://github.com/user-attachments/assets/025ac3f0-7af1-4e6f-ab9f-7658c5978f92)](https://i2rt.com/)
+
+> 📚 **Full documentation:** [doc.i2rt.com](https://doc.i2rt.com)
+
+## Features
+
+- Plug-and-play Python interface for YAM arms and Flow Base
+- Real-time robot control via CAN bus (DM series motors)
+- MuJoCo gravity compensation, simulation, and URDF/MJCF models
+- Gripper force control and auto-calibration
+- Bimanual teleoperation and trajectory record & replay
+- Policy-deployment ready — works with standard robot learning pipelines
+
+## Installation
+
+```bash
+git clone https://github.com/i2rt-robotics/i2rt.git && cd i2rt
+curl -LsSf https://astral.sh/uv/install.sh | sh
+source $HOME/.local/bin/env
+uv venv --python 3.11
+source .venv/bin/activate
+```
+
+```bash
+sudo apt update
+sudo apt install build-essential python3-dev linux-headers-$(uname -r)
+uv pip install -e .
+```
+
+## CAN Bus Setup
+
+```bash
+# Check detected CAN devices
+ls -l /sys/class/net/can*
+
+# Bring up interface at 1 Mbit/s
+sudo ip link set can0 up type can bitrate 1000000
+
+# Auto-enable on boot
+sudo sh devices/install_devices.sh
+
+# Reset unresponsive adapter
+sh scripts/reset_all_can.sh
+```
+
+## YAM Arm
+
+### Zero-gravity mode
+
+```bash
+python i2rt/robots/motor_chain_robot.py --channel can0 --gripper linear_4310
+```
+
+### Python API
+
+```python
+from i2rt.robots.get_robot import get_yam_robot
+from i2rt.robots.utils import GripperType
+import numpy as np
+
+robot = get_yam_robot(channel="can0", gripper_type=GripperType.LINEAR_4310)
+
+# Read joint positions (radians)
+q = robot.get_joint_pos()   # shape: (6,)
+
+# Command a target configuration
+robot.command_joint_pos(np.zeros(6))
+```
+
+### Leader-follower teleoperation
+
+```bash
+# Follower arm
+python examples/minimum_gello/minimum_gello.py --gripper linear_4310 --mode follower --can-channel can0 --bilateral-kp 0.2
+
+# Leader arm (teaching handle)
+python examples/minimum_gello/minimum_gello.py --gripper yam_teaching_handle --mode leader --can-channel can1 --bilateral-kp 0.2
+```
+
+- **Top button (press once):** enable synchronisation — follower tracks leader
+- **Top button (press again):** disable synchronisation
+- `--bilateral-kp` controls resistance felt on the leader (0.1–0.2 recommended)
+
+To inspect leader arm output:
+
+```bash
+python scripts/run_yam_leader.py --channel $CAN_CHANNEL
+```
+
+### MuJoCo visualiser
+
+```bash
+python examples/minimum_gello/minimum_gello.py --mode visualizer_local
+```
+
+## Gripper Types
+
+| Gripper | Motor | Notes |
+|---------|-------|-------|
+| `crank_4310` | DM4310 | Zero-linkage crank — minimises gripper width |
+| `linear_3507` | DM3507 | Lightweight linear; start closed or run calibration |
+| `linear_4310` | DM4310 | Standard linear; slightly more force than 3507 |
+| `yam_teaching_handle` | — | Leader arm handle with trigger + 2 buttons. |
+
+The linear grippers require calibration because their motor travels more than 2π radians over the full stroke — either start with the gripper fully closed, or run the calibration routine.
+
+## Flow Base
+
+```bash
+# Joystick demo
+python i2rt/flow_base/flow_base_controller.py
+```
+
+```python
+from i2rt.flow_base.flow_base_client import FlowBaseClient
+
+client = FlowBaseClient(host="172.6.2.20")
+client.set_target_velocity([0.1, 0.0, 0.0], frame="local")
+```
+
+## Examples
+
+| Example | Location |
+|---------|----------|
+| Bimanual lead-follower | `examples/bimanual_lead_follower/` |
+| Record & replay trajectory | `examples/record_replay_trajectory/` |
+| Single motor PD control | `examples/single_motor_position_pd_control/` |
+| MuJoCo control interface | `examples/control_with_mujoco/` |
+
+## Advanced: Motor Configuration
+
+### Safety timeout
+
+The factory default is a **400 ms timeout** — motors enter damping mode if no command is received within 400 ms.
+
+```bash
+# Disable timeout (advanced users only — run twice)
+python i2rt/motor_config_tool/set_timeout.py --channel can0
+python i2rt/motor_config_tool/set_timeout.py --channel can0
+
+# Re-enable timeout
+python i2rt/motor_config_tool/set_timeout.py --channel can0 --timeout
+```
+
+> ⚠️ Without the timeout, a failed gravity-compensation loop can produce uncontrolled torque. If you disable it, always initialise with a PD target:
+> ```python
+> robot = get_yam_robot(channel="can0", zero_gravity_mode=False)
+> ```
+
+### Zero motor offsets
+
+```bash
+python i2rt/motor_config_tool/set_zero.py --channel can0 --motor_id 1
+```
+
+Run for each motor ID (1–6 for a standard YAM).
+
+## Contributing
+
+Pull requests welcome. Open an issue to request examples or report bugs.
+
+## License
+
+MIT License — see [LICENSE](LICENSE).
+
+## Support
+
+- Email: support@i2rt.com
+- Sales: sales@i2rt.com
+
+## Acknowledgments
+
+- [TidyBot++](https://github.com/jimmyyhwu/tidybot2) — Flow Base hardware and control inspired by TidyBot++
+- [GELLO](https://github.com/wuphilipp/gello_software) — Teleoperation design inspired by GELLO

dreamscale_i2rt-1.1.2.post1/i2rt/__init__.py

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+"""i2rt code base"""