Station Repository

Registry of known station specs.

Bimanual_YAM_Station

Bimanual_YAM_Station = Bimanual_Station_Spec(base=Station_BaseSpec.Static, arm=arm.MotorizedArmSpec(arm=arm.MotorizedArm_ArmType.YAM_6DoF, gripper=arm.MotorizedArm_GripperType.I2RT_linear_gripper_1DoF, refresh_rate=100, control_rate=100), wrist_camera=camera.Camera_DeviceSpec(device_type=camera.Camera_DeviceType.Realsense_D405, resolution=(360, 640), refresh_rate=30, jpeg_compression=80), topdown_camera=camera.Camera_DeviceSpec(device_type=camera.Camera_DeviceType.Realsense_D405, resolution=(360, 640), refresh_rate=30, jpeg_compression=80))

Static bimanual YAM station: two YAM 6-DoF arms with I2RT grippers, two wrist D405s, one top-down D405.

Teleop_Bimanual_YAM_Station

Teleop_Bimanual_YAM_Station = Teleop_Bimanual_Station_Spec(base=Bimanual_YAM_Station.base, arm=Bimanual_YAM_Station.arm, leader_arm=replace(Bimanual_YAM_Station.arm, gripper=arm.MotorizedArm_GripperType.I2RT_teaching_handle), wrist_camera=Bimanual_YAM_Station.wrist_camera, topdown_camera=Bimanual_YAM_Station.topdown_camera)

Bimanual_YAM_Station with two official YAM teaching-handle leaders.

Teleop_Bimanual_OpenYAM_Station

Teleop_Bimanual_OpenYAM_Station = replace(Teleop_Bimanual_YAM_Station, leader_arm=Bimanual_YAM_Station.arm)

The same layout with motorized grippers on the OpenYAM leaders.