Bill of Materials¶
Raiden is designed for the YAM bimanual robot system. Exact quantities depend on whether you are running a unimanual or bimanual setup.
PC
| Component | Notes |
|---|---|
| PC | A GPU is required when using ZED cameras; RealSense cameras produce depth on-device |
PC specifications
An NVIDIA GPU is required when using ZED cameras (ZED SDK or Fast Foundation Stereo depth). RealSense cameras produce depth on-device so a GPU is not needed for RealSense-only setups. Required GPU memory and CPU performance depend on your specific configuration; check the requirements before purchasing.
Robot Arms and Controllers
| Component | Qty | Notes | Link |
|---|---|---|---|
| YAM 6-DoF Follower Arm (standard, Pro, or Ultra) | 1–2 | One per side for bimanual | i2rt.com |
| YAM Leader Arm | 0–2 | Optional; required for leader-follower control only | i2rt.com |
| 3Dconnexion SpaceMouse Compact | 0–2 | Optional; alternative to leader arms for teleoperation | 3dconnexion.com |
| PCsensor USB Foot Switch | 0–1 | Optional soft e-stop | Amazon |
For bimanual teleoperation you need two follower arms and two leader arms (one pair per side). For unimanual, one of each is sufficient.
Teleop controller
You need either YAM Leader Arms or SpaceMouse devices for teleoperation — one per arm. Leader arms are not required if you use SpaceMouse control, and vice versa.
Cameras (recommended setup)
The recommended camera setup is 2 × ZED Mini (one per wrist) + 1 × ZED 2i (scene). ZED cameras share a common clock, making multi-camera synchronization straightforward.
| Component | Qty | Notes | Link |
|---|---|---|---|
| ZED Mini | 1–2 | Wrist camera; one per follower arm | stereolabs.com |
| ZED 2i | 1 | Fixed scene camera | stereolabs.com |
| USB Type-C Cable (4 m) | 1–2 | One per ZED Mini; shorter cables will not reach at full arm extension | stereolabs.com |
| 3D-printable wrist camera mounts | 1–2 | Required to attach ZED Mini to follower wrist link | Left / Right |
| ChArUco board | 1 | Required for camera calibration; print and mount rigidly on a flat surface | - |
ZED Mini cable length
Use a 4 m USB Type-C cable for each ZED Mini. Shorter cables will not reach from the wrist to the PC once the arm is fully extended.
Cameras (optional — mix and match)
Raiden also supports Intel RealSense D400-series cameras as wrist or scene cameras, and ZED and RealSense cameras can be mixed freely within the same session.
Prefer ZED cameras for multi-camera setups
ZED cameras share a common wall-clock timestamp, making synchronization across cameras straightforward. RealSense cameras have known synchronization limitations — see Hardware Setup for details. If you must mix camera types, use ZED cameras for wrist roles where timestamp alignment is most critical.
| Component | Notes | Link |
|---|---|---|
| Intel RealSense D400 series (e.g. D405) | Alternative wrist or scene camera; no GPU required for depth | realsenseai.com |