### Install I2RT Python Library

Source: https://github.com/i2rt-robotics/i2rt/blob/main/README.md

Clone the repository, install the uv environment manager, and install the I2RT library in a virtual environment.

```bash
git clone https://github.com/i2rt-robotics/i2rt.git && cd i2rt
curl -LsSf https://astral.sh/uv/install.sh | sh
source $HOME/.local/share/uv/env
uv venv --python 3.11
source .venv/bin/activate
```

```bash
sudo apt update
sudo apt install build-essential python3-dev linux-headers-$(uname -r)
uv pip install -e .
```

--------------------------------

### Configure Different Arm and Gripper Combinations in Simulation

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/minimum_gello/README.md

Demonstrates how to specify different arm and gripper assemblies when running the example in simulation mode.

```bash
python examples/minimum_gello/minimum_gello.py --arm big_yam --gripper linear_4310 --sim
```

```bash
python examples/minimum_gello/minimum_gello.py --arm yam_pro --gripper flexible_4310 --sim
```

--------------------------------

### Run Minimum Gello in Simulation Mode

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/minimum_gello/README.md

Executes the example in simulation mode, which does not require any hardware. This is useful for testing and development.

```bash
python examples/minimum_gello/minimum_gello.py --sim
```

--------------------------------

### Run Minimum Gello as Local Visualizer

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/minimum_gello/README.md

Launches the example as a local visualizer, which mirrors the live robot state using the MuJoCo viewer.

```bash
python examples/minimum_gello/minimum_gello.py --mode visualizer_local
```

--------------------------------

### Leader-Follower Setup with Specific Gripper and CAN Channel

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/minimum_gello/README.md

Sets up the follower in a specific configuration with a linear gripper and CAN channel, and the leader with a teaching handle and bilateral force feedback.

```bash
python examples/minimum_gello/minimum_gello.py \
    --gripper linear_4310 --mode follower --can-channel can0
```

```bash
python examples/minimum_gello/minimum_gello.py \
    --gripper yam_teaching_handle --mode leader --can-channel can1 --bilateral-kp 0.2
```

--------------------------------

### Run Record Replay Trajectory Script

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/record_replay_trajectory/README.md

Execute the main script to start the record and replay functionality.

```bash
python record_replay_trajectory.py
```

--------------------------------

### Run Viser Control in Simulation Mode

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/control_with_viser/README.md

Starts the Viser control interface in simulation mode, which does not require hardware. Useful for testing and development.

```bash
python examples/control_with_viser/control_with_viser.py --sim
```

--------------------------------

### Run Viser Control with Specific Arm and Gripper Variants

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/control_with_viser/README.md

Launches the Viser control interface with custom arm and gripper configurations, in simulation mode. This allows testing with different hardware setups.

```bash
python examples/control_with_viser/control_with_viser.py --arm big_yam --gripper linear_4310 --sim
```

--------------------------------

### Run Minimum Gello in Follower Mode

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/minimum_gello/README.md

Starts the robot in follower mode, serving its state over the portal. Requires specifying the CAN channel.

```bash
python examples/minimum_gello/minimum_gello.py --can-channel can0
```

--------------------------------

### Run Single Motor PD Control Script

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/single_motor_position_pd_control/README.md

Execute the Python script to start the interactive motor control interface. Specify the CAN channel, motor ID, and PD control gains (KD is shown here).

```bash
python i2rt/scripts/single_motor_pd_pos_control.py --channel can1 --motor_id 1 --kd 5
```

--------------------------------

### Get Linear Rail State on Flow Base

Source: https://github.com/i2rt-robotics/i2rt/blob/main/i2rt/flow_base/README.md

Retrieves the current state of the linear rail on the Flow Base using the client script.

```bash
python i2rt/flow_base/flow_base_client.py --command get_linear_rail_state --host 172.6.2.20
```

--------------------------------

### Run MuJoCo Control with Real Hardware (Default)

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/control_with_mujoco/README.md

Launches the MuJoCo control interface for real hardware, connecting via the default 'can0' CAN interface.

```bash
python examples/control_with_mujoco/control_with_mujoco.py --channel can0
```

--------------------------------

### Create SD Card Image

Source: https://github.com/i2rt-robotics/i2rt/blob/main/devices/pi_setup.md

Create a disk image from your SD card. Replace `/dev/sdX` with your actual SD card device (e.g., `/dev/sdc`).

```bash
sudo dd if=/dev/sdX of=pi_system.img bs=4M status=progress
sync
```

--------------------------------

### Run Flow Base Joystick Demo

Source: https://github.com/i2rt-robotics/i2rt/blob/main/README.md

Executes the joystick demonstration for the Flow Base.

```bash
python i2rt/flow_base/flow_base_controller.py
```

--------------------------------

### Launch Bimanual Lead-Follower System

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/bimanual_lead_follower/README.md

Launch the bimanual lead-follower system using the provided Python script after ensuring the virtual environment is activated.

```bash
python bimanual_lead_follower.py
```

--------------------------------

### List Block Devices

Source: https://github.com/i2rt-robotics/i2rt/blob/main/devices/pi_setup.md

Use this command to identify the mounting location of your SD card before creating an image.

```bash
lsblk
```

--------------------------------

### Run MuJoCo Control in Simulation (Default Arm/Gripper)

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/control_with_mujoco/README.md

Launches the MuJoCo control interface in simulation mode using the default YAM arm and linear_4310 gripper.

```bash
python examples/control_with_mujoco/control_with_mujoco.py --sim
```

--------------------------------

### Record Replay Trajectory Script Options

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/record_replay_trajectory/README.md

Command-line arguments for configuring the record and replay trajectory script, such as CAN channel, gripper type, and file operations.

```bash
--channel can0          # CAN bus channel
--gripper linear_4310   # Yam gripper type so the gravity compensation can load the correct model
--output file.npy       # Output filename
--load file.npy         # Load trajectory at startup
```

--------------------------------

### Flash Image to New SD Card

Source: https://github.com/i2rt-robotics/i2rt/blob/main/devices/pi_setup.md

Wipe the new SD card and flash the previously created image onto it. Ensure `/dev/sdX` is the correct device for the new SD card.

```bash
sudo wipefs -a /dev/sdX
sudo dd if=pi_system.img of=/dev/sdX bs=4M status=progress
sync
```

--------------------------------

### Run MuJoCo Control in Simulation (Arm Only)

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/control_with_mujoco/README.md

Launches the MuJoCo control interface in simulation mode, configuring it to use the 'yam' arm without any gripper.

```bash
python examples/control_with_mujoco/control_with_mujoco.py --arm yam --gripper no_gripper --sim
```

--------------------------------

### Run MuJoCo Control with Real Hardware (Big YAM Arm)

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/control_with_mujoco/README.md

Launches the MuJoCo control interface for real hardware, specifying the 'big_yam' arm and 'linear_4310' gripper, and connecting via the 'can0' CAN interface.

```bash
python examples/control_with_mujoco/control_with_mujoco.py --arm big_yam --gripper linear_4310 --channel can0
```

--------------------------------

### Verify CAN Interfaces

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/bimanual_lead_follower/README.md

After setting up CAN IDs, verify that all four CAN interfaces are correctly mapped and in an UP state using the 'ip a' command.

```bash
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
```

--------------------------------

### Initialize and Control YAM Robot with Python API

Source: https://github.com/i2rt-robotics/i2rt/blob/main/README.md

Initializes a YAM robot using the Python API and demonstrates reading joint positions and commanding a target configuration.

```python
from i2rt.robots.motor_chain_robot import get_yam_robot
import numpy as np

robot = get_yam_robot(channel="can0", gripper_type="linear_4310")

# Read joint positions (radians)
q = robot.get_joint_pos()   # shape: (6,)

# Command a target configuration
robot.command_joint_pos(np.zeros(6))
```

--------------------------------

### Configure CAN Bus Interface

Source: https://github.com/i2rt-robotics/i2rt/blob/main/README.md

Commands to check, bring up, and auto-enable CAN bus interfaces for robot communication.

```bash
# Check detected CAN devices
ls -l /sys/class/net/can*

# Bring up interface at 1 Mbit/s
sudo ip link set can0 up type can bitrate 1000000

# Auto-enable on boot
sudo sh devices/install_devices.sh

# Reset unresponsive adapter
sh scripts/reset_all_can.sh
```

--------------------------------

### Leader-Follower Teleoperation for YAM Arm

Source: https://github.com/i2rt-robotics/i2rt/blob/main/README.md

Sets up leader-follower teleoperation for a YAM arm. The follower arm tracks the leader, and the `--bilateral_kp` parameter controls resistance on the leader.

```bash
# Follower arm
python examples/minimum_gello/minimum_gello.py --gripper linear_4310 --mode follower --can-channel can0 --bilateral_kp 0.2

# Leader arm (teaching handle)
python examples/minimum_gello/minimum_gello.py --gripper yam_teaching_handle --mode leader --can-channel can1 --bilateral_kp 0.2
```

--------------------------------

### Run MuJoCo Control in Simulation (Big YAM Arm)

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/control_with_mujoco/README.md

Launches the MuJoCo control interface in simulation mode, specifying the 'big_yam' arm and 'linear_4310' gripper.

```bash
python examples/control_with_mujoco/control_with_mujoco.py --arm big_yam --gripper linear_4310 --sim
```

--------------------------------

### Run Viser Control with Real Robot on CAN Bus

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/control_with_viser/README.md

Connects the Viser control interface to a real robot using a specified CAN bus interface. Ensure the robot is properly connected and the CAN interface is available.

```bash
python examples/control_with_viser/control_with_viser.py --channel can0
```

--------------------------------

### Run Minimum Gello in Leader Mode

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/minimum_gello/README.md

Operates the robot in leader mode, reading input from a teaching handle to drive a remote follower. Requires specifying the CAN channel for the leader.

```bash
python examples/minimum_gello/minimum_gello.py --mode leader --can-channel can1
```

--------------------------------

### Initialize Robot Without Zero Gravity Mode

Source: https://github.com/i2rt-robotics/i2rt/blob/main/README.md

Initializes the robot without zero gravity mode, which is recommended when the motor timeout is disabled. This ensures a PD target is always set.

```python
robot = get_yam_robot(channel="can0", zero_gravity_mode=False)
```

--------------------------------

### Inspect Leader Arm Output

Source: https://github.com/i2rt-robotics/i2rt/blob/main/README.md

Runs a script to inspect the output of the YAM leader arm.

```bash
python scripts/run_yam_leader.py --channel $CAN_CHANNEL
```

--------------------------------

### Interactive Motor Control Panel

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/single_motor_position_pd_control/README.md

The output panel displays real-time motor status including current and target position, velocity, torque, temperatures, and error codes. It also shows the current step size and PD gains (KP/KD), and lists available keyboard controls.

```bash
Arrow-key PD teleop (q to quit)
Current pos : -1.64359 rad
Target  pos : -1.49720 rad
Velocity    : -0.00244 rad/s
Torque      : +11.65812 Nm (or driver units)
Temp rotor  : 45.0 °C   Temp MOS: 35.0 °C
Error code  : 0x1

Step size   : 0.01000 rad   (↑ bigger / ↓ smaller)
KP=80.00  KD=3.00

Controls: ←/→ move • r reset-to-current • SPACE hold • q quit
```

--------------------------------

### Control Flow Base Velocity with Python API

Source: https://github.com/i2rt-robotics/i2rt/blob/main/README.md

Connects to the Flow Base client and sets a target linear and angular velocity in the local frame.

```python
from i2rt.flow_base.flow_base_client import FlowBaseClient

client = FlowBaseClient(host="172.6.2.20")
client.set_target_velocity([0.1, 0.0, 0.0], frame="local")
```

--------------------------------

### Override Handle Weight for Gravity Compensation

Source: https://github.com/i2rt-robotics/i2rt/blob/main/examples/minimum_gello/README.md

Compensates for the mass of different 3D-printed teaching handles by specifying the `--ee-mass` flag. This is crucial for accurate gravity compensation.

```bash
python examples/minimum_gello/minimum_gello.py --ee-mass 0.350 --can-channel can0
```

--------------------------------

### Test Linear Rail Movement on Flow Base

Source: https://github.com/i2rt-robotics/i2rt/blob/main/i2rt/flow_base/README.md

Executes a test command for the linear rail on the Flow Base. Warning: The linear rail will move.

```bash
python i2rt/flow_base/flow_base_client.py --command test_linear_rail --host 172.6.2.20
```

--------------------------------

### Linear Rail API Methods

Source: https://github.com/i2rt-robotics/i2rt/blob/main/i2rt/flow_base/README.md

Control and query the state of the FlowBase's linear rail module. Initialization requires `FlowBaseClient(host="172.6.2.20", with_linear_rail=True)`.

```APIDOC
## Linear Rail API

### Description
Provides methods to get the current state of the linear rail and to set its velocity.

### Methods

#### `get_linear_rail_state()`

- **Description**: Retrieves the current position, velocity, and limit switch states of the linear rail.
- **Usage**: Call this method to monitor the rail's status.

#### `set_linear_rail_velocity(velocity)`

- **Description**: Sets the target velocity for the linear rail.
- **Parameters**:
  - `velocity` (float) - Required - The desired velocity in units per second.
- **Usage**: Use this to command the rail to move at a specific speed.

#### `set_target_velocity([x, y, theta, rail_vel], frame)`

- **Description**: Enables combined control of the base and the linear rail, allowing for 4-dimensional movement.
- **Parameters**:
  - `[x, y, theta, rail_vel]` (list of floats) - Required - A list containing the desired velocities for the base's x, y, and theta, and the linear rail's velocity.
  - `frame` (string) - Required - The coordinate frame in which the velocities are defined.
- **Usage**: For integrated control of the robot's base and linear rail movement.
```

--------------------------------

### Control YAM Arm in Zero-Gravity Mode

Source: https://github.com/i2rt-robotics/i2rt/blob/main/README.md

Launches a YAM arm in zero-gravity mode using the specified CAN channel and gripper type.

```bash
python i2rt/robots/motor_chain_robot.py --channel can0 --gripper_type linear_4310
```

--------------------------------

### Reduce Image Size with PiShrink

Source: https://github.com/i2rt-robotics/i2rt/blob/main/devices/pi_setup.md

Optionally, use PiShrink to reduce the size of your Raspberry Pi image file. This is useful for saving storage space.

```bash
sudo ./pishrink.sh pi_system.img pi_system_shrunk.img
```

--------------------------------

### Test Movement Command on Flow Base

Source: https://github.com/i2rt-robotics/i2rt/blob/main/i2rt/flow_base/README.md

Executes a test movement command on the Flow Base. Warning: The base will move.

```python
python i2rt/flow_base/flow_base_client.py --command test_command --host 172.6.2.20
```

--------------------------------

### Read Odometry from Flow Base

Source: https://github.com/i2rt-robotics/i2rt/blob/main/i2rt/flow_base/README.md

Retrieve the current odometry data (translation and rotation) from the Flow Base using the client script. Requires the base to be accessible on the network.

```python
python i2rt/flow_base/flow_base_client.py --command get_odometry --host 172.6.2.20
```

```bash
[Client] Connecting to 172.6.2.20:11323
[Client] Connection established
{'translation': array([-6.59153544e-07, -3.79215432e-04]), 'rotation': array(-0.00022068)}
```

--------------------------------

### Reset Odometry on Flow Base

Source: https://github.com/i2rt-robotics/i2rt/blob/main/i2rt/flow_base/README.md

Resets the odometry of the Flow Base to zero using the client script. This is useful for recalibrating the robot's position.

```python
python i2rt/flow_base/flow_base_client.py --command reset_odometry --host 172.6.2.20
```

--------------------------------

### Zero Motor Offset

Source: https://github.com/i2rt-robotics/i2rt/blob/main/README.md

Zeros the offset for a specific motor. Run this command for each motor ID (1-6 for a standard YAM robot).

```bash
python i2rt/motor_config_tool/set_zero.py --channel can0 --motor_id 1
```

--------------------------------

### Re-enable Motor Safety Timeout

Source: https://github.com/i2rt-robotics/i2rt/blob/main/README.md

Re-enables the motor safety timeout. This is the recommended setting for normal operation.

```bash
python i2rt/motor_config_tool/set_timeout.py --channel can0 --timeout
```

--------------------------------

### Eject SD Card

Source: https://github.com/i2rt-robotics/i2rt/blob/main/devices/pi_setup.md

Safely eject the SD card after flashing to prevent data corruption.

```bash
eject /dev/sdX
```

--------------------------------

### SSH Access to Flow Base

Source: https://github.com/i2rt-robotics/i2rt/blob/main/i2rt/flow_base/README.md

Connect to the Flow Base via SSH using its static IP address. Ensure your development machine is on the same network segment.

```bash
ssh i2rt@172.6.2.20 -J $USER_NAME@$YOUR_DEV_MACHINE_IP
```

--------------------------------

### Disable Motor Safety Timeout

Source: https://github.com/i2rt-robotics/i2rt/blob/main/README.md

Disables the motor safety timeout. This should be run twice. Use with caution as it can lead to uncontrolled torque if the gravity compensation loop fails.

```bash
python i2rt/motor_config_tool/set_timeout.py --channel can0
python i2rt/motor_config_tool/set_timeout.py --channel can0
```

=== COMPLETE CONTENT === This response contains all available snippets from this library. No additional content exists. Do not make further requests.