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What you need

  • Two I2RT YAM arms with grippers, each on its own CAN adapter.
  • Three RGB cameras: top, left wrist, and right wrist. USB (UVC), ZED, and RealSense cameras work.
  • A Linux computer wired to the arms and cameras.
  • A hardware e-stop within reach.

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1. Install on the robot computer

On Debian or Ubuntu:
Bring both CAN interfaces up at 1 Mbit/s. To keep names stable across reboots, follow I2RT’s persistent CAN naming guide.

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2. Set up the rig

The first run installs the YAM driver and camera support. Then open the printed URL from any computer on the same network and:
  1. Preview each camera and assign it to top, left, or right. Set rotation if needed.
  2. Pick each arm’s CAN adapter, arm variant, and gripper variant.
Setup does not move the arms. It saves your rig to ~/.config/dreamscale/yam.json.
Can’t open the page? Use dreamscale robots yam setup --cli to set up in the terminal instead. Running more than one rig? Pass --config PATH to setup, doctor, and run.

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3. Check everything

This checks the cameras, CAN buses, and your model access without moving the arms or starting a paid session.
Every line shows a ✓.

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4. Run a model

Both arms will move. Clear the workspace and keep the e-stop within reach. Software limits do not prevent collisions.
  1. Press Enter to connect. Both arms power on and calibrate their grippers.
  2. Type an instruction, for example fold the towel.
  3. The arms move to home and show a preview of the first actions. Nothing moves yet.
  4. Press Enter to run. Press Ctrl+C to stop.
  5. The arms return home and ask for the next instruction. Press Ctrl+C again to disconnect.
The arms keep holding their pose after the command exits. This is powered holding, not a brake. Support the arms, then release the motors:
dreamscale robots yam home moves both arms home first, then releases.

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Models

Run dreamscale models to see every model your organization can use.

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Useful options

The default home pose is all joints at zero with grippers open. To change it, set the 14-value home_pose in yam.json. See the CLI reference for every option. Stuck? See Troubleshooting.