YAM Standard

✓ Python SDK✓ MuJoCo Sim✓ Gravity Compensation

YAM Standard is the entry-level configuration of the YAM Arm Series — a 6-DOF research arm built for general-purpose manipulation, teleoperation, and embodied-AI data collection.

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

Specifications

Parameter	Value
Price	$2,999
Degrees of Freedom	6
Communication	CAN bus (1 Mbit/s)
Shoulder motors	3× DM4340
Elbow / Wrist motors	3× DM4310
Joint 1 range	-150° to +180°
Joint 2 range	0° to +210°
Joint 3 range	0° to +180°
Joint 4 range	-97° to +90°
Joint 5 range	-90° to +90°
Joint 6 range	-120° to +120°
Payload	TBD — see i2rt.com
Reach	TBD — see i2rt.com
Weight	TBD — see i2rt.com
Build / Materials	TBD — see i2rt.com

API Usage

Use ArmType.YAM (or the lowercase string "yam") when creating the robot. This is the default — you can omit arm_type entirely.

python

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

# Implicit (default is YAM Standard)
robot = get_yam_robot(channel="can0", gripper_type=GripperType.LINEAR_4310)

# Explicit
robot = get_yam_robot(
    channel="can0",
    arm_type=ArmType.YAM,
    gripper_type=GripperType.LINEAR_4310,
)

Command line

bash

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

Control gains (default YAML)

yaml

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]

See Gravity & Friction Compensation on the YAM Series page for the meaning of each field.

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 2 range	210°	210°	210°	180°
Joint 3 range	180°	180°	180°	173°
Default PD gains	identical	identical	identical	different
Gravity comp factor	identical	identical	identical	different

Summary: from the SDK's perspective, Standard and Pro behave identically — the physical hardware differs but the control law and APIs are the same. BIG YAM is the only variant with substantially different control parameters.

YAM Standard ​

Specifications ​

API Usage ​

Command line ​

Control gains (default YAML) ​

Differences from Other YAM Variants ​

See Also ​