Station Configuration

A station config is a dataclass that defines all hardware and software components for your robot setup. We provide factory functions that dynamically instantiate the servers/clients from this dataclass.

How the examples are organized

Folder	Purpose	Edit?
examples/cfg/	One config per robot × teleop combo — arm IP, gripper port, camera serials, teleop settings, recorder path	Yes — edit before running
examples/teleop_*.py	Control loops (spacemouse EEF, gello joint, leader-follower)	No

What to edit before running

Open the config for your setup (e.g. examples/cfg/xarm_eef.py, examples/cfg/so100.py) and update:

1. Your hardware:

arm_cfg: NodeCfg | None = field(
    default_factory=lambda: NodeCfg(
        robot_ip="192.168.1.205",  # ← change to your robot's IP
        ...
    )
)
# Update serial numbers to match your cameras:
"camera_1": Camera(serial="821212062747", ...)
"camera_2": Camera(serial="218622273888", ...)

2. Your task:

TASK = "pick_and_place"  # ← sets the recorder output path: data/{TASK}/

recorder_cfg: RecorderCfg = field(
    default_factory=lambda: RecorderCfg(path=f"data/{TASK}/")
)

You don't need to touch anything else to get started.

Available configs

Config file	Class	Teleop script
examples/cfg/xarm_eef.py	Xarm7EEFStation	examples.teleop_eef
examples/cfg/xarm_gello.py	Xarm7GelloStation	examples.teleop_leader_follower
examples/cfg/so100.py	SO100Station	examples.teleop_leader_follower
examples/cfg/bimanual_so100.py	BimanualSO100Station	examples.teleop_leader_follower

Run uv run -m examples.cfg to see all registered station classes.

Adding a new robot

1. Copy the closest config in examples/cfg/ and update the hardware and teleop fields.
2. Register it in examples/cfg/__init__.py: add the import and add the class name to __all__.
3. Run with:

STATION=MyRobotStation uv run -m examples.teleop_leader_follower

---

Component Pattern

The factory uses a field + field_cfg naming convention; the module is

Field	Config Field	Module
arm, arm1, arm2	arm_cfg, arm1_cfg, arm2_cfg	robots
gripper, gripper1	gripper_cfg, gripper1_cfg	robots
visualizer	visualizer_cfg	visualization
recorder	recorder_cfg	data
teleop_*	teleop_*_cfg	interfaces
policy	policy_cfg, policy_node_cfg	policies

Rules:

• Field value = class name as string (e.g., "XarmArm", "Rerun") or None to disable
• Config = dataclass with parameters passed to the class constructor

Cameras

Cameras use a dict with a special Camera helper class:

cameras: dict[str, Camera] = field(
    default_factory=lambda: {
        "camera_1": Camera(
            cam_type="Realsense",      # Class name in rio.cameras
            serial="821212062747",
            model="D400",
            enable_depth=False,
            resolution=(480, 640),
        ),
    }
)

Minimal Example

from dataclasses import dataclass, field

@dataclass
class MyStationCfg:
    @dataclass
    class ArmCfg:
        robot_ip: str = "192.168.1.100"
        robot_model: str = "xarm7"
        freq: int = 250

    @dataclass
    class VisualizerCfg:
        app_id: str = "my_demo"
        spawn: bool = True
        freq: int = 30

    class Camera:
        def __init__(self, cam_type: str, module: str = "cameras", **kwargs):
            self.cam_type = cam_type
            self.module = module
            self.cfg = kwargs

    # Nodes
    arm: str | None = "XarmArm"
    arm_cfg: ArmCfg = field(default_factory=ArmCfg)

    gripper: str | None = None  # Disabled

    cameras: dict[str, Camera] = field(default_factory=dict)

    visualizer: str | None = "Rerun"
    visualizer_cfg: VisualizerCfg = field(default_factory=VisualizerCfg)

    # Middleware
    mw: str = "Thread"  # or "Process"

    instruction: str = "Pick up the object."

Bimanual Setup

For bimanual robots, use numbered fields:

@dataclass
class BimanualStationCfg:
    arm1: str | None = "SoArm"
    arm1_cfg: ArmCfg = field(default_factory=lambda: ArmCfg(port="/dev/ttyACM0"))

    arm2: str | None = "SoArm"
    arm2_cfg: ArmCfg = field(default_factory=lambda: ArmCfg(port="/dev/ttyACM1"))

    embodiment_type: str = "BIMANUAL"

Adding a Policy

@dataclass
class PolicyStationCfg(BaseStationCfg):
    @dataclass
    class PolicyInterfaceConfig:
        instruction: str | None = None
        proprio_dim: int = 12
        action_dim: int = 12
        chunk_size: int = 50
        freq: int = 100
        camera_keys: list[str] = field(default_factory=list)

    @dataclass
    class PolicyConfig:
        policy_path: str = "/path/to/checkpoint"
        device: str = "cuda:0"

    policy: str = "Pi0"
    policy_node_cfg: PolicyInterfaceConfig = field(default_factory=PolicyInterfaceConfig)
    policy_cfg: PolicyConfig = field(default_factory=PolicyConfig)

How Factory Resolution Works

1. instantiate_station_cfg(args) iterates over all fields
2. For each string field xyz, it looks for xyz_cfg
3. Module is inferred from field name (see table above)
4. Server/client pair is created: make_node(mw, module, node_class, cfg_dict)

To override the module for a field, pass xyz_module="custom_module" to the factory.