YAM Pro

✓ Python SDK✓ MuJoCo Sim✓ Gravity Compensation

YAM Pro is the mid-tier configuration of the YAM Arm Series — same motor topology and SDK behavior as YAM Standard, with enhanced actuator quality and tighter build tolerances for improved repeatability and lifetime.

For the full SDK reference and API documentation that applies to all YAM variants, see the YAM Arm Series page.

Specifications

Parameter	Value
Price	$3,499
Degrees of Freedom	6
Communication	CAN bus (1 Mbit/s)
Shoulder motors	3× DM4340
Elbow / Wrist motors	3× DM4310
Joint 1 range	-150° to +175°
Joint 2 range	0° to +209°
Joint 3 range	0° to +210°
Joints 4, 5 range	±90°
Joint 6 range	±120°
Payload	TBD — see i2rt.com
Reach	TBD — see i2rt.com
Weight	TBD — see i2rt.com
Build / Materials	TBD — see i2rt.com

API Usage

Pass ArmType.YAM_PRO (or the lowercase string "yam_pro") to get_yam_robot():

from i2rt.robots.get_robot import get_yam_robot
from i2rt.robots.utils import ArmType, GripperType

robot = get_yam_robot(
    channel="can0",
    arm_type=ArmType.YAM_PRO,
    gripper_type=GripperType.LINEAR_4310,
)

Command line

python i2rt/robots/get_robot.py --arm yam_pro --channel can0 --gripper linear_4310

Control gains

YAM Pro uses identical default PD gains, gravity compensation, and friction values to YAM Standard:

kp:                 [80.0, 80.0, 80.0, 40.0, 10.0, 10.0]
kd:                 [5.0,  5.0,  5.0,  1.5,  1.5,  1.5]
gravity_comp_factor:[1.0,  1.1,  1.1,  1.2,  1.0,  1.0]
grav_comp_kd:       [0.1,  0.1,  0.1,  0.3,  0.05, 0.05]
coulomb_friction:   [0.3,  0.3,  0.3,  0.06, 0.06, 0.06]

Same control law as Standard

Because the actuators are mechanically the same parts (DM4340 / DM4310 motors), the PD-control tuning carries over. If you've already tuned a YAM Standard, those same gains will work on a YAM Pro.

Differences from Other YAM Variants

	Standard	Pro	Ultra	BIG YAM
arm_type	YAM	YAM_PRO	YAM_ULTRA	BIG_YAM
Motors	DM4340×3 + DM4310×3	same	same	DM6248×2 + DM4340×2 + DM4310×2
Joint 3 range	210°	210°	180°	180°
Default PD gains	identical	identical	identical	different
Build / repeatability	base	enhanced	top	rugged

Summary: YAM Pro = YAM Standard with better hardware-level quality. SDK calls are interchangeable except for the arm_type argument.

Porting from YAM Standard

- robot = get_yam_robot(channel="can0", arm_type=ArmType.YAM)
+ robot = get_yam_robot(channel="can0", arm_type=ArmType.YAM_PRO)

That's the only required change. All other code — observation reading, joint commands, gravity-comp tuning — is unchanged.

See Also

• YAM Arm Series — full SDK API and shared documentation
• YAM Standard, YAM Ultra, BIG YAM — sibling variants
• Grippers