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Bimanual Lead-Follower System Setup

This tutorial demonstrates how to set up a bimanual lead-follower system. This tutorial assumes you've followed the main README and finished setting up the environment.

Required Hardware

  • Two YAM Leader arms
  • Two YAM Follower arms

Hardware Setup

  1. Install two YAM leader and two YAM follower arms safely on the tabletop
  2. Connect the arms to power
  3. Set up the CANable devices
  4. Important: Do NOT plug any CANable devices into your computer yet

Setup Different CAN IDs for Leader and Follower Arms

⚠️ Critical Step: Plug in one CAN device at a time to avoid conflicts.

  1. Follow the instructions in set_persist_id_socket_can.md to configure each arm:
    • Left leader arm: can_leader_l
    • Right leader arm: can_leader_r
    • Left follower arm: can_follower_l
    • Right follower arm: can_follower_r

⚠️ This step is critical! Our code uses these CAN IDs to match arms together.

Verification

After setting up all CAN IDs:

  1. Plug in all 4 CAN devices
  2. Run ip a to verify the CAN devices are mapped correctly
  3. You should see output similar to:
i2rt@ioheart-dev03:~/i2rt$
.........
.........
9: can_follower_r: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP group default qlen 10
    link/can
10: can_follower_l: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP group default qlen 10
    link/can
11: can_leader_r: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP group default qlen 10
    link/can
12: can_leader_l: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP group default qlen 10
    link/can

Launch the System

Once all CAN devices are properly configured and connected, launch the system: Assume you've installed the python virtual environment and run source .venv/bin/activate

python bimanual_lead_follower.py

Operation

  • Press the top button on the teaching handle to enable the system
  • This code essentially launches two minimum_gello.py instances for bimanual control

Troubleshooting

  • If you don't see all four CAN interfaces, double-check that:
    • All CAN devices are properly connected
    • Each device has a unique CAN ID as configured
    • The devices are powered on and in UP state
  • Use ip link show to check the status of individual CAN interfaces