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feat(sim): yam molmoact2 dual arm setup - #349
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The case mesh of the d405 was rotated by 90 degrees around the optical axis with respect to its camera frame. The FR3 wrist camera transform is adjusted so that its image stays the same. (cherry picked from commit ea1db1e, formatted with black)
The bottom of the yam's mounting plate was 10 mm below the base frame, so the arm sank into whatever it was mounted on. The plate now ends at the base frame as in i2rt's yam model, the kinematics are unchanged.
The yam used the gripper meshes of the first menagerie yam model, which do not match the linear_4310 gripper and are rotated by 180 degrees around the flange compared to the real robot. The gripper of menagerie's yam_linear_4310.xml (i2rt's meshes, fitted collision boxes and inertias) is used instead, with its frames folded into the bodies. The arm kinematics, the gripper stroke and the gripper gains stay unchanged, only the right finger now moves along its own axis like the left one.
Meshes and materials from MuJoCo Menagerie's realsense_d435i, with a camera at the RGB module in the convention of the other camera assets.
The bracket of i2rt's d405 wrist assembly for the linear_4310 gripper from their yam station model, with the camera body removed so that the d405 camera asset can be attached on its own.
Parts of the bimanual yam table-top setup: an 800mm 2060 aluminium extrusion with g-clamps that holds both arms, an extendable camera desk mount for the head camera and a 160x80cm desk.
Registers rcs/yam_duo: two yams 0.44m apart on a 2060 extrusion that is clamped to a table, as in the MolmoAct2 reference setup. Each wrist has a d405 on i2rt's bracket, using the extrinsics of i2rt's yam station model, and a d435 head camera sits on an extendable desk mount behind the arms, posed to match the top camera of the MolmoAct2 bimanual yam datasets.
duckdb 2.0 removed fetch_record_batch, used by the lerobot joint converter.
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