Quick Start (on-site machine)

Before teleop/recording, run the setup checker:

uv run python scripts/check_setup.py

If this passes, you can proceed with the following teleop/recording commands. If something doesn't work, walk through the Troubleshooting checklist.

./scripts/teleop.sh

sudo -i
cd /home/ethrc/Desktop/yams-robot-server
./scripts/record.sh

Command to record episodes: NUM_EPISODES=50 EPISODE_TIME_S=50 PUSH_TO_HUB=true bash scripts/record.sh --log

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⚠️ First-time Setup

1. Request access to the private i2rt fork

This repo depends on third_party/i2rt, which is a submodule pointing at the private fork ETHRoboticsClub/i2rt. Ping an ETHRC admin to add your GitHub account to the org / grant read access before cloning. uv sync will fail without it.

2. Clone with submodules

git clone <this-repo-url>
cd yams-robot-server
git submodule update --init --recursive

If you hit upload-pack: not our ref <sha>, the pinned submodule commit apteisn't reachable on the fork (force-pushed or never pushed). Fall back to the branch tip:

git -C third_party/i2rt fetch --all
git submodule update --init --remote third_party/i2rt
git -C third_party/i2rt checkout ethrc-fork

Do not git add third_party/i2rt after this — it would bump the submodule pin for everyone.

3. Install uv

curl -LsSf https://astral.sh/uv/install.sh | sh
source $HOME/.local/bin/env

4. Install dependenciesfrom a separate barrel jack (usually plugged into th

uv sync

Use uv run ... for all Python entry points.

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Teleop troubleshooting checklist

Only needed if teleop or recording isn't working. Run through these on the robot machine:

• Turn on both power strips. Follower fans should start making noise.
• List followers (CAN) with ip link show. Make sure both are connected.
  • If needed, reset CAN busses: sudo sh third_party/i2rt/scripts/reset_all_can.sh.
• Set up leader USBs: sudo .venv/bin/python scripts/setup_leader_ports.py.
• Precisely place the leader arms in the zero position for calibration.
• Calibrate leader arms with uv run python scripts/compute_offsets.py.
• Follower zeros are stored on the DM motors, not in the leader offset YAMLs. If a follower joint jumps when teleop starts, place that follower joint in mechanical zero and reset that motor zero.
  • Example right joint 3: uv run python third_party/i2rt/i2rt/motor_config_tool/set_zero.py --channel <right_arm.can_port> --motor_id 3.
• Identify the correct camera ids by running uv run lerobot-find-cameras. Make sure mapping is correct in configs/arms.yaml in the index_or_path field. You can find their images in outputs/captured_images/.
• Make sure the output images of the wrist cameras look properly exposed. If needed, tweak the fixed baseline in scripts/set_camera_profile.sh or the runtime auto-exposure knobs in configs/arms.yaml.
• Type realsense-viewer, load the config from configs/realsense.json, and make sure it looks good. If it looks bad, overwrite configs/realsense.json with better settings.
• DO THIS FOR WRIST CAMERAS, NOT ZED CAMERA: ./scripts/set_camera_profile.sh /dev/video<ID>
• Run uv run lerobot-find-cameras again, check outputs to make sure they look normal.
• Make sure the cameras are focused.
• Wrist cameras can also self-adjust manual exposure at runtime with the auto_exposure_* fields under each opencv-cached camera in configs/arms.yaml.