Safety¶
Disclaimer
Raiden is research software provided as-is, without warranty of any kind. Operating robotic arms involves inherent physical risks. The authors and Toyota Research Institute accept no liability for any damage to property, equipment, or persons arising from the use of this software. Users are solely responsible for ensuring safe operating conditions, including appropriate physical barriers, trained operators, and compliance with all applicable safety regulations.
Soft E-Stop¶
Raiden supports an optional USB foot switch as a soft emergency stop during teleoperation, recording, and policy evaluation.
Soft E-Stop Disclaimer
This is a software-level ("soft") e-stop only. YAM arms do not have brakes in their motors. When activated, the software holds all arm joints at their current positions for 5 seconds before commanding them to the home position and exiting the session. It does not cut motor power or guarantee immediate mechanical stoppage. Do not rely on this as a primary or sole safety mechanism.
Behavior¶
- Press the foot switch at any time during teleoperation, recording, or policy evaluation.
- All active arms freeze at their current positions.
- After 5 seconds, all arms return to the home position and the session exits cleanly.
- Pressing the foot switch again during the 5-second hold resets the countdown.
In recording mode, pressing the foot switch saves the current episode as incomplete. Incomplete episodes are automatically detected and overridden on the next run.
Setup¶
The foot switch is a USB HID device. The first time you use it, install a
udev rule to grant read access without requiring sudo:
This only needs to be run once. After that, the foot switch is auto-detected when Raiden starts.
The foot switch is optional - if it is not connected, Raiden prints a warning and continues normally without the soft e-stop feature.
Hardware¶
| Component | Qty | Link |
|---|---|---|
| PCsensor USB Foot Switch | 1 | Amazon |