Add i2rt submodule

Author: SuveenE

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "i2rt"]
+	path = i2rt
+	url = https://github.com/i2rt-robotics/i2rt.git

i2rt

@@ -114,10 +114,7 @@ intelrealsense = [
     "pyrealsense2-macosx>=2.54,<2.55.0 ; sys_platform == 'darwin'",
 ]
 phone = ["hebi-py>=2.8.0,<2.12.0", "teleop>=0.1.0,<0.2.0", "fastapi<1.0"]
-yam = [
-    "i2rt>=0.0.1",
-    "portal>=3.7.0,<4.0.0",
-]
+yam = ["portal>=3.7.0,<4.0.0"]
 
 # Policies
 pi = ["transformers @ git+https://github.com/huggingface/transformers.git@fix/lerobot_openpi"]

pyproject.toml

@@ -36,22 +36,29 @@ ip link show can_leader_l
 
 ### Install Dependencies
 
-Install LeRobot with Yam support:
+**Step 1: Clone with submodules**
 ```bash
-pip install -e ".[yam]"
+# If you haven't cloned yet:
+git clone --recursive https://github.com/huggingface/lerobot.git
+
+# If you already cloned without --recursive:
+git submodule update --init --recursive
 ```
 
-This will install:
-- `portal` library for client-server communication
-- `i2rt` library for low-level motor control of Yam arms
+**Step 2: Install i2rt library** (required for the server processes)
+```bash
+cd i2rt
+pip install -e .
+cd ..
+```
 
-**Note**: If `i2rt` is not available on PyPI, you may need to install it separately from source:
+**Step 3: Install LeRobot with Yam support**
 ```bash
-pip install git+https://github.com/your-org/i2rt.git
-# OR from a local clone:
-# cd /path/to/i2rt && pip install -e .
+pip install -e ".[yam]"
 ```
 
+This will install the `portal` library for client-server communication.
+
 ## Running the System
 
 ### Step 1: Start the Server Processes

src/lerobot/robots/bi_yam_follower/README.md

@@ -80,7 +80,9 @@ def find_i2rt_script():
             return script_path
     except ImportError:
         raise RuntimeError(
-            "Could not import i2rt. Please install it with: pip install -e '.[yam]'"
+            "Could not import i2rt. Please install it separately:\n"
+            "  cd i2rt && pip install -e . && cd ..\n"
+            "Then install LeRobot: pip install -e '.[yam]'"
         )
 
     raise RuntimeError(