+ Cost-effective, high-performance hardware built for learning-based robotics β
+ teleoperation-ready, policy-deployment-ready, and battle-tested in the real world.
+
+
+
diff --git a/docs/products/flow-base.md b/docs/products/flow-base.md
new file mode 100644
index 0000000..b5b7c8e
--- /dev/null
+++ b/docs/products/flow-base.md
@@ -0,0 +1,209 @@
+
+
+# Flow Base
+
+
+ β Python SDK
+ β Omnidirectional
+ β Remote Control
+ β Raspberry Pi On-board
+
+
+**Flow Base** is I2RT's omnidirectional holonomic mobile platform. Designed to pair with YAM arms, it enables precise whole-body mobile manipulation for tasks that demand exact positioning and free orientation.
+
+
+
+
+
+
+
+
+
+## Tagline
+
+> *"It likes to move it move it"* β precise, omnidirectional control for tasks where positioning and stability are critical.
+
+## Key Features
+
+- **Holonomic drive** β simultaneous XY translation and rotation with no kinematic constraints
+- **On-board Raspberry Pi** β pre-configured with i2rt SDK; SSH-accessible over Wi-Fi or Ethernet
+- **CAN bus motor control** β same DM-series protocol as YAM arms
+- **Remote controller** β joystick remote included for manual operation
+- **API control** β full network Python API via `FlowBaseClient`
+- **Odometry** β wheel odometry with reset; external sensor integration supported
+- **Safety** β E-stop, velocity timeout (0.25 s), remote override
+
+## Specifications
+
+| Parameter | Value |
+|-----------|-------|
+| Drive | Holonomic (4-wheel) |
+| Communication (external) | Ethernet (static IP `172.6.2.20`) / Wi-Fi |
+| Communication (motors) | CAN bus |
+| On-board computer | Raspberry Pi |
+| Power | Internal battery |
+| SSH credentials | `i2rt` / `root` |
+| API port | `11323` |
+| Velocity timeout | 0.25 s |
+
+## Photos & Videos
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+## Remote Control Layout
+
+| Input | Function |
+|-------|----------|
+| Left joystick | XY translation |
+| Right joystick X | Rotation (yaw) |
+| Right joystick Y | Linear rail lift (if equipped) |
+| Left1 | Reset odometry |
+| Mode | Toggle local β global frame |
+| Left2 | Override API commands (safety) |
+
+## Getting Started
+
+### 1. Unbox & power on
+
+Follow the [unboxing guide](https://www.canva.com/design/DAGvHpqzf-Y). Ensure:
+- Battery is connected and charged
+- E-stop is **not pressed**
+- CAN selector switch is in the **UP** position
+
+### 2. SSH in
+
+```bash
+# Wired (Ethernet, static IP)
+ssh i2rt@172.6.2.20
+
+# Or find the Pi on your LAN after Wi-Fi setup
+ssh i2rt@
+# Password: root
+```
+
+### 3. Run joystick demo
+
+```bash
+python i2rt/flow_base/flow_base_controller.py
+```
+
+### 4. Python API
+
+```python
+from i2rt.flow_base.flow_base_controller import Vehicle
+import time
+
+vehicle = Vehicle()
+vehicle.start_control()
+
+# Move forward at 0.1 m/s for 1 second
+start = time.time()
+while time.time() - start < 1.0:
+ vehicle.set_target_velocity((0.1, 0.0, 0.0), frame="local")
+```
+
+## Coordinate Systems
+
+The base supports two control frames toggled with the **Mode** button on the remote:
+
+| Mode | Behaviour |
+|------|-----------|
+| **Local** | XY motion is relative to the base's current heading |
+| **Global** | XY motion is relative to the world frame (headless mode) |
+
+::: warning Odometry drift
+Wheel odometry accumulates error, especially during aggressive movements. For precise mobile manipulation, integrate a visual odometry sensor (RealSense T265, ZED Camera). Press **Left1** to reset odometry at any time.
+:::
+
+## API Reference
+
+```python
+from i2rt.flow_base.flow_base_client import FlowBaseClient
+
+client = FlowBaseClient(host="172.6.2.20")
+
+# Read wheel odometry
+odom = client.get_odometry()
+# {'translation': array([x, y]), 'rotation': array([theta])}
+
+# Reset odometry
+client.reset_odometry()
+
+# Command velocity [x, y, theta] in m/s and rad/s
+client.set_target_velocity([0.1, 0.0, 0.0], frame="local")
+```
+
+### Linear Rail (if equipped)
+
+```python
+client = FlowBaseClient(host="172.6.2.20", with_linear_rail=True)
+
+# Get rail state (position, velocity, limit switches)
+state = client.get_linear_rail_state()
+
+# Set rail velocity (rad/s)
+client.set_linear_rail_velocity(0.5)
+
+# Combined base + rail command [x, y, theta, rail_vel]
+client.set_target_velocity([0.1, 0.0, 0.0, 0.2], frame="local")
+```
+
+::: tip Linear rail safety
+The rail homes to the lower limit on init and has hardware limit switches. Set velocity to `0.0` to stop β do not control the brake directly. Commands time out after **0.25 s** of inactivity.
+:::
+
+## External CAN Control
+
+To bypass the on-board Pi and control the base from an external computer:
+
+1. Connect your CAN adapter to the external CAN connector
+2. Set the CAN selector switch to the **DOWN** position
+3. Clone the i2rt repo on your external machine and control via CAN directly
+
+## Troubleshooting
+
+| Symptom | Fix |
+|---------|-----|
+| Remote unresponsive | Toggle remote off and on to wake from sleep |
+| Slow boot | Normal β screen firmware adds delay, SSH is available quickly |
+| Inaccurate odometry | Expected with wheel odometry; use external visual sensor for precision |
+| Linear rail not homing | Check GPIO connections and limit switches |
+| Linear rail stuck at limit | Run `get_linear_rail_state()` to check switch status |
+
+## See Also
+
+- [Linear Bot](/products/linear-bot) β Flow Base + linear rail lift
+- [Flow Base API](/sdk/flow-base)
+- [Hardware Setup](/getting-started/hardware-setup)
+
+
diff --git a/docs/products/index.md b/docs/products/index.md
new file mode 100644
index 0000000..753d719
--- /dev/null
+++ b/docs/products/index.md
@@ -0,0 +1,25 @@
+# Products
+
+I2RT Robotics builds an open ecosystem of robotic arms, mobile bases, and teleoperation systems for research and embodied AI applications.
+
+## Product Family
+
+| Product | Category | Code Support |
+|---------|----------|-------------|
+| [YAM Series](/products/yam) | Robotic Arm | β Full |
+| [YAM Cell](/products/yam-cell) | Bimanual Teleoperation Station | β Full |
+| [YAM Box](/products/yam-box) | Enclosed Manipulation Station | π Coming soon |
+| [Flow Base](/products/flow-base) | Holonomic Mobile Base | β Full |
+| [Linear Bot](/products/linear-bot) | Mobile Base + Linear Actuator | β Full |
+
+## End Effectors
+
+| Gripper | Motor | Weight | Notes |
+|---------|-------|--------|-------|
+| `crank_4310` | DM4310 | β | Zero-linkage crank, minimal width |
+| `linear_3507` | DM3507 | Light | Requires closed-position calibration |
+| `linear_4310` | DM4310 | Medium | Higher gripping force |
+| `yam_teaching_handle` | β | β | Leader arm with trigger + 2 buttons |
+| `flexpoint_4310` | DM4310 | β | Adaptive compliant gripper for extreme-condition grasping |
+
+See [Grippers SDK](/sdk/grippers) for API details.
diff --git a/docs/products/linear-bot.md b/docs/products/linear-bot.md
new file mode 100644
index 0000000..8f79e41
--- /dev/null
+++ b/docs/products/linear-bot.md
@@ -0,0 +1,127 @@
+
+
+# Linear Bot
+
+
+ β Python SDK
+ β Full Mobile Manipulation
+ β Height Adjustment
+
+
+**Linear Bot** is the [Flow Base](/products/flow-base) combined with a vertical linear rail actuator. The linear rail adds a height axis to the omnidirectional base, enabling the mounted YAM arm to reach objects at varying heights β from floor-level to shelf-height β without repositioning.
+
+
+
+
+
+
+
+
+
+
+
+
+
+## System Architecture
+
+```
+βββββββββββββββββββββββββββ
+β YAM Arm β β 6-DOF manipulation
+βββββββββββββββββββββββββββ€
+β Linear Rail β β Vertical axis (Z height)
+βββββββββββββββββββββββββββ€
+β Flow Base β β XY + rotation (holonomic)
+βββββββββββββββββββββββββββ
+```
+
+The three subsystems are controlled together through a unified Python API, giving the robot **9 degrees of freedom** (6-DOF arm + 3-DOF mobile base including linear rail).
+
+## Key Features
+
+- **Vertical height axis** β linear rail extends and retracts under API or remote control
+- **Limit switches** β hardware safety stops at both rail ends; auto-home on initialization
+- **Brake management** β brake automatically released on init, engaged on shutdown
+- **Integrated API** β 4D base velocity commands `[x, y, ΞΈ, rail_vel]`
+- **Safety timeouts** β both base and rail stop after 0.25 s without a heartbeat
+
+## Specifications
+
+| Parameter | Value |
+|-----------|-------|
+| Mobile base | Flow Base (holonomic) |
+| Vertical actuator | Linear rail with DM-series motor |
+| Arm (typical) | YAM or YAM Pro |
+| Total DOF (arm + base + rail) | 9 |
+| Rail control | Velocity [rad/s] |
+| Rail velocity timeout | 0.25 s |
+| Rail home | Lower limit (on init) |
+
+## Photos & Videos
+
+
+
+
+
+
+
+
+
+
+
+
+## Python API
+
+```python
+from i2rt.flow_base.flow_base_client import FlowBaseClient
+
+client = FlowBaseClient(host="172.6.2.20", with_linear_rail=True)
+
+# Move forward + raise rail simultaneously
+client.set_target_velocity([0.1, 0.0, 0.0, 0.05], frame="local")
+# x y ΞΈ rail_vel
+
+# Get rail position and limit switch states
+state = client.get_linear_rail_state()
+print(state) # {'position': ..., 'velocity': ..., 'limit_switches': ...}
+
+# Stop rail
+client.set_linear_rail_velocity(0.0)
+```
+
+## Important Notes
+
+::: warning Auto-homing on init
+The linear rail homes to the **lower limit switch** on every initialization. Ensure there is clearance below the carriage before powering on.
+:::
+
+::: tip Stopping the rail
+Always set velocity to `0.0` to stop the rail. Do not try to engage the brake directly β the system manages brake state automatically.
+:::
+
+## Pricing
+
+Starting at **$18,999**. Contact [sales@i2rt.com](mailto:sales@i2rt.com) for configuration options.
+
+## See Also
+
+- [Flow Base](/products/flow-base) β base-only configuration
+- [Flow Base API](/sdk/flow-base)
+- [YAM Arm Series](/products/yam)
+
+
diff --git a/docs/products/motor-gf43x10-10.md b/docs/products/motor-gf43x10-10.md
new file mode 100644
index 0000000..e9267d8
--- /dev/null
+++ b/docs/products/motor-gf43x10-10.md
@@ -0,0 +1,75 @@
+
+
+# GF43X10-10
+
+
+
+The **GF43X10-10** uses a 10Γ planetary gearbox β the lowest reduction in the GF43 family β delivering the highest output speed. It is the lightest and shortest of the three variants, suited for joints or mechanisms where speed matters more than peak torque.
+
+## Dimensions
+
+
+
+
+ Detailed drawing with hole pattern and tolerances
+
+
+
+## Specifications
+
+| Parameter | Value |
+|-----------|-------|
+| Reduction Ratio | 10 |
+| Rated Voltage | 24 V |
+| Rated Bus Current | 2.3 A |
+| Rated Phase Current | 2 A |
+| Rated Power | 40 W |
+| Rated Speed (output) | 172 RPM |
+| Rated Torque | 2.2 NΒ·m |
+| Peak Power | 70 W |
+| Peak Torque | 7 NΒ·m |
+| Torque Constant | 0.095 NΒ·m/A |
+| Weight | 300 g |
+| Gearbox Backlash | 7.5 arcmin |
+| Motor Size (β Γ L, excl. pins) | 57 Γ 45.9 mm |
+| Communication | CAN bus |
+
+> All speeds refer to the **output shaft** unless otherwise noted.
+
+::: tip Lower backlash
+The 10Γ gearbox has **7.5 arcmin** backlash β half that of the 40Γ models β which improves positional accuracy at the cost of torque multiplication.
+:::
+
+## Features
+
+- Dual encoder with single-turn absolute output-shaft position β survives power-off
+- Motor + driver in one housing; no external controller required
+- CAN bus feedback: speed, position, torque, motor temperature
+- Dual temperature protection (hardware + software)
+- Trapezoidal acceleration/deceleration in position mode
+- Visual debugging via host PC; supports firmware upgrade
+
+## Where to Buy
+
+Visit [i2rt.com](https://i2rt.com) or contact [sales@i2rt.com](mailto:sales@i2rt.com).
+
+## See Also
+
+- [GF43X40-16](/products/motor-gf43x40-16) β 40Γ reduction, highest continuous torque
+- [GF43X40-10](/products/motor-gf43x40-10) β 40Γ reduction, mid-power compact variant
+- [Motors Overview](/products/motors)
+
+
diff --git a/docs/products/motor-gf43x40-10.md b/docs/products/motor-gf43x40-10.md
new file mode 100644
index 0000000..8332b69
--- /dev/null
+++ b/docs/products/motor-gf43x40-10.md
@@ -0,0 +1,71 @@
+
+
+# GF43X40-10
+
+
+
+The **GF43X40-10** is a compact mid-power variant of the GF43 joint module with a 40Γ planetary gearbox. Lighter and shorter than the GF43X40-16, it offers the same reduction ratio with a lower continuous torque rating but a notably higher peak torque ceiling β suitable for applications that require strong intermittent bursts.
+
+## Dimensions
+
+
+
+
+ Detailed drawing with hole pattern and tolerances
+
+
+
+## Specifications
+
+| Parameter | Value |
+|-----------|-------|
+| Reduction Ratio | 40 |
+| Rated Voltage | 24 V |
+| Rated Bus Current | 2.3 A |
+| Rated Phase Current | 2 A |
+| Rated Power | 40 W |
+| Rated Speed (output) | 43 RPM |
+| Rated Torque | 8.9 NΒ·m |
+| Peak Power | 70 W |
+| Peak Torque | 28 NΒ·m |
+| Torque Constant | 0.095 NΒ·m/A |
+| Weight | 362 g |
+| Gearbox Backlash | 15 arcmin |
+| Motor Size (β Γ L, excl. pins) | 57 Γ 56.5 mm |
+| Communication | CAN bus |
+
+> All speeds refer to the **output shaft** unless otherwise noted.
+
+## Features
+
+- Dual encoder with single-turn absolute output-shaft position β survives power-off
+- Motor + driver in one housing; no external controller required
+- CAN bus feedback: speed, position, torque, motor temperature
+- Dual temperature protection (hardware + software)
+- Trapezoidal acceleration/deceleration in position mode
+- Visual debugging via host PC; supports firmware upgrade
+
+## Where to Buy
+
+Visit [i2rt.com](https://i2rt.com) or contact [sales@i2rt.com](mailto:sales@i2rt.com).
+
+## See Also
+
+- [GF43X40-16](/products/motor-gf43x40-16) β higher continuous torque variant
+- [GF43X10-10](/products/motor-gf43x10-10) β 10Γ reduction for higher-speed applications
+- [Motors Overview](/products/motors)
+
+
diff --git a/docs/products/motor-gf43x40-16.md b/docs/products/motor-gf43x40-16.md
new file mode 100644
index 0000000..87bf77e
--- /dev/null
+++ b/docs/products/motor-gf43x40-16.md
@@ -0,0 +1,75 @@
+
+
+# GF43X40-16
+
+
+
+The **GF43X40-16** is the highest-power variant of the GF43 planetary joint module. It combines a 40Γ planetary gearbox with a 24 V brushless DC motor and integrated CAN driver. Gears are vacuum-nitrided for durability; the concentrated-winding motor is optimized for low cogging torque and smooth motion.
+
+## Dimensions
+
+
+
+
+ Overall dimensions β three-view
+
+
+
+ Detailed drawing with hole pattern and tolerances
+
+
+
+## Specifications
+
+| Parameter | Value |
+|-----------|-------|
+| Reduction Ratio | 40 |
+| Rated Voltage | 24 V |
+| Rated Bus Current | 4 A |
+| Rated Phase Current | 3.5 A |
+| Rated Power | 65 W |
+| Rated Speed (output) | 44 RPM |
+| Rated Torque | 14 NΒ·m |
+| Peak Power | 90 W |
+| Peak Torque | 23.5 NΒ·m |
+| Torque Constant | 0.096 NΒ·m/A |
+| Weight | 464.5 g |
+| Gearbox Backlash | 15 arcmin |
+| Motor Size (β Γ L, excl. pins) | 57 Γ 62.5 mm |
+| Communication | CAN bus |
+
+> All speeds refer to the **output shaft** unless otherwise noted.
+
+## Features
+
+- Dual encoder with single-turn absolute output-shaft position β survives power-off
+- Motor + driver in one housing; no external controller required
+- CAN bus feedback: speed, position, torque, motor temperature
+- Dual temperature protection (hardware + software)
+- Trapezoidal acceleration/deceleration in position mode
+- Visual debugging via host PC; supports firmware upgrade
+
+## Where to Buy
+
+Visit [i2rt.com](https://i2rt.com) or contact [sales@i2rt.com](mailto:sales@i2rt.com).
+
+## See Also
+
+- [GF43X40-10](/products/motor-gf43x40-10) β lighter variant, same reduction, lower continuous torque
+- [GF43X10-10](/products/motor-gf43x10-10) β 10Γ reduction for higher-speed applications
+- [Motors Overview](/products/motors)
+
+
diff --git a/docs/products/motors.md b/docs/products/motors.md
new file mode 100644
index 0000000..92b631c
--- /dev/null
+++ b/docs/products/motors.md
@@ -0,0 +1,54 @@
+# Motors
+
+
+ β CAN Bus
+ β Dual Encoder
+ β Integrated Driver
+ β Planetary Reduction
+
+
+I2RT's **GF series** are all-in-one joint modules β planetary gearbox, brushless DC motor, and driver integrated into a single compact housing. Gears are vacuum-nitrided for high strength and service life. The concentrated-winding motor design delivers high power density with optimized pole-arc ratio for low cogging torque and smooth motion.
+
+## Model Comparison
+
+| Model | Reduction Ratio | Rated Torque | Peak Torque | Rated Speed | Weight | Size (β Γ L) |
+|-------|:-:|:-:|:-:|:-:|:-:|:-:|
+| [GF43X40-16](/products/motor-gf43x40-16) | 40 | 14 NΒ·m | 23.5 NΒ·m | 44 RPM | 464.5 g | 57 Γ 62.5 mm |
+| [GF43X40-10](/products/motor-gf43x40-10) | 40 | 8.9 NΒ·m | 28 NΒ·m | 43 RPM | 362 g | 57 Γ 56.5 mm |
+| [GF43X10-10](/products/motor-gf43x10-10) | 10 | 2.2 NΒ·m | 7 NΒ·m | 172 RPM | 300 g | 57 Γ 45.9 mm |
+
+All models share the same 24 V supply and CAN bus interface.
+
+## Key Features
+
+- **Dual encoder** β single-turn absolute output-shaft position; survives power-off without losing zero reference
+- **Integrated driver** β compact single-unit assembly with no external controller required
+- **CAN bus feedback** β real-time speed, position, torque, and motor temperature
+- **Dual temperature protection** β hardware and software over-temperature shutdown
+- **Trapezoidal motion profile** β configurable acceleration/deceleration in position mode
+- **Visual debugging** β host-PC GUI for tuning and firmware upgrade
+
+## Communication
+
+All GF series motors communicate over **CAN bus (1 Mbit/s)**, the same bus used by YAM arm actuators. Multiple motors can share a single CAN channel using standard node addressing.
+
+```python
+# Motor control follows the same CAN pattern as YAM joints
+# See the YAM Arm SDK for protocol details
+```
+
+## Naming Convention
+
+```
+GF 43 X 40 - 16
+β β β ββ Motor variant (current/winding spec)
+β β ββββββββ Reduction ratio
+β βββββββββββββββ Outer diameter class (43 mm motor stator)
+βββββββββββββββββββ GF joint module series
+```
+
+
diff --git a/docs/products/yam-arm.md b/docs/products/yam-arm.md
new file mode 100644
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--- /dev/null
+++ b/docs/products/yam-arm.md
@@ -0,0 +1,109 @@
+
+
+# YAM Arm
+
+
+
+The **YAM Arm** is the follower/manipulation arm in the YAM family β a 6-DOF, CAN busβdriven manipulator built for real-world research and embodied AI data collection. Pair it with a [YAM Leader](/products/yam-leader) for teleoperation, or run it standalone with the Python SDK.
+
+
+
+
+
+
+
+
+
+
+
+
+
+## Models
+
+| Model | Price | Notes |
+|-------|-------|-------|
+| **YAM** | $2,999 | Standard research arm |
+| **YAM Pro** | $3,499 | Enhanced actuators |
+| **YAM Ultra** | $4,299 | Highest spec standard arm |
+| **BIG YAM** | $4,999 | Larger reach and payload |
+
+## Specifications
+
+| Parameter | Value |
+|-----------|-------|
+| Degrees of Freedom | 6 |
+| Communication | CAN bus (1 Mbit/s) |
+| Motor Series | DM series brushless |
+| Control Modes | Joint position PD Β· Gravity compensation Β· Zero-gravity |
+| Simulation | MuJoCo (MJCF + URDF provided) |
+| Safety | 400 ms motor timeout (configurable) |
+| Mounting | Table-top (standard) |
+
+## Grippers
+
+| Gripper | Motor | Notes |
+|---------|-------|-------|
+| `crank_4310` | DM4310 | Zero-linkage crank β minimal sweep width |
+| `linear_3507` | DM3507 | Lightweight linear; requires closed-position calibration |
+| `linear_4310` | DM4310 | Standard linear; slightly higher force |
+
+See [Grippers](/sdk/grippers) for calibration and model details.
+
+## 3D Model
+
+```
+i2rt/robot_models/arm/yam/
+βββ yam.urdf
+βββ yam.xml
+βββ assets/ # STL meshes (visual + collision)
+```
+
+## Videos
+
+
+
+
+
+
+## Quick Start
+
+```python
+from i2rt.robots.motor_chain_robot import get_yam_robot
+import numpy as np
+
+robot = get_yam_robot(channel="can0", gripper_type="linear_4310")
+
+# Read joint positions (radians)
+q = robot.get_joint_pos() # shape: (6,)
+
+# Command home position
+robot.command_joint_pos(np.zeros(6))
+```
+
+## See Also
+
+- [YAM Leader](/products/yam-leader) β teaching handle for teleoperation
+- [YAM Arm API](/sdk/yam-arm)
+- [Grippers](/sdk/grippers)
+- [Hardware Setup](/getting-started/hardware-setup)
+
+
diff --git a/docs/products/yam-box.md b/docs/products/yam-box.md
new file mode 100644
index 0000000..6c171ef
--- /dev/null
+++ b/docs/products/yam-box.md
@@ -0,0 +1,57 @@
+# YAM Box
+
+
+ π Code Coming Soon
+ β Hardware Available
+
+
+**YAM Box** is an all-in-one enclosed manipulation station built around the YAM arm family. It provides a self-contained, cable-managed workspace for manipulation research and automated data collection.
+
+::: warning Code support not yet available
+The YAM Box hardware is available for purchase. Software and SDK support is under active development and will be released in an upcoming update. Sign up at [i2rt.com](https://i2rt.com) or join the [Discord](https://discord.gg/i2rt) to be notified.
+:::
+
+## Overview
+
+
+
+## Intended Use Cases
+
+- **Automated data generation** β Run unattended overnight collection campaigns without cable snagging.
+- **Demonstration stations** β Clean, professional setup for trade shows and lab demos.
+- **Safe testing environments** β Enclosed workspace limits accidental contact during development.
+
+## What's Inside
+
+
+
+| Component | Description |
+|-----------|-------------|
+| YAM arm(s) | 1 or 2 YAM arms (depending on configuration) |
+| Cable management | Internal routing to keep wiring clear of arm workspace |
+| Electronics bay | CANable adapters, power distribution |
+| Enclosure | Aluminum frame with clear polycarbonate panels |
+
+## Pricing
+
+Starting at **$3,500**. Contact [sales@i2rt.com](mailto:sales@i2rt.com) for custom configurations.
+
+## Stay Updated
+
+Join the I2RT community:
+- [Discord](https://discord.gg/i2rt)
+- [GitHub](https://github.com/i2rt-robotics/i2rt) β watch the repo for releases
+- Email [support@i2rt.com](mailto:support@i2rt.com)
+
+
diff --git a/docs/products/yam-cell.md b/docs/products/yam-cell.md
new file mode 100644
index 0000000..f6917b3
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+
+# YAM Cell
+
+
+
+**YAM Cell** is a complete bimanual teleoperation workstation built around two YAM leader arms and two YAM follower arms. It is designed for collecting high-quality manipulation demonstrations for training embodied AI models.
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+#### Mobile Variant
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+## System Overview
+
+The YAM Cell pairs **leader arms** (with teaching handles) and **follower arms** in a bilateral teleoperation loop. An operator moves the leader arms naturally; the follower arms mirror the motion in real time with configurable force feedback.
+
+```
+Operator βββΊ Leader (YAM + teaching handle)
+ β bilateral link (CAN bus)
+ Follower (YAM + task gripper) βββΊ Task workspace
+```
+
+## Hardware Requirements
+
+| Component | Qty | Notes |
+|-----------|-----|-------|
+| YAM Follower arms | 2 | Any YAM tier |
+| YAM Leader arms | 2 | Must use `yam_teaching_handle` gripper |
+| CANable USB-CAN adapters | 4 | One per arm |
+| Workstation PC | 1 | Ubuntu 22.04 recommended |
+
+## CAN Bus Layout
+
+Each arm requires a dedicated CAN channel. Assign persistent names using udev rules (see [Hardware Setup](/getting-started/hardware-setup)):
+
+| Arm | CAN name |
+|-----|----------|
+| Left follower | `can_follower_l` |
+| Right follower | `can_follower_r` |
+| Left leader | `can_leader_l` |
+| Right leader | `can_leader_r` |
+
+## Videos
+
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+
+
+
+## Quick Start
+
+### 1. Configure CAN IDs
+
+Plug one CANable device at a time and assign each arm a persistent name:
+
+```bash
+# Follow the instructions in:
+doc/set_persist_id_socket_can.md
+```
+
+### 2. Verify connectivity
+
+```bash
+ip a | grep can
+# Expected:
+# can_follower_r UP
+# can_follower_l UP
+# can_leader_r UP
+# can_leader_l UP
+```
+
+### 3. Launch bimanual teleoperation
+
+```bash
+cd /path/to/i2rt
+source .venv/bin/activate
+python examples/bimanual_lead_follower/bimanual_lead_follower.py
+```
+
+### 4. Enable synchronization
+
+Press the **top button** on either teaching handle once to begin tracking. Press again to pause.
+
+## Control Reference
+
+| Action | Result |
+|--------|--------|
+| Move leader arm | Follower mirrors motion |
+| Squeeze trigger | Follower gripper closes |
+| Top button (1Γ) | Enable sync |
+| Top button (2Γ) | Pause sync |
+| `--bilateral_kp` flag | Increase for more force feedback (default 0.2) |
+
+::: tip Bilateral stiffness
+Start with `--bilateral_kp 0.1` and increase gradually. Values above `0.3` make the leader arm feel noticeably heavy.
+:::
+
+## Data Logging
+
+Trajectory recording is built into the example:
+
+```python
+from i2rt.robots.motor_chain_robot import get_yam_robot
+# See examples/record_replay_trajectory/ for full dataset collection pipeline
+```
+
+## See Also
+
+- [Bimanual Teleoperation Example](/examples/bimanual-teleoperation)
+- [Record & Replay](/examples/record-replay)
+- [YAM Arm API](/sdk/yam-arm)
+
+
diff --git a/docs/products/yam-leader.md b/docs/products/yam-leader.md
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+
+
+# YAM Leader Arm
+
+
+
+The **YAM Leader** is the operator-side arm used for teleoperation. It is kinematically identical to the [YAM Arm](/products/yam-arm) but fitted with the `yam_teaching_handle` instead of a gripper. The operator holds the handle and moves the leader arm β the follower arm mirrors the motion in real time.
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+## Specifications
+
+| Parameter | Value |
+|-----------|-------|
+| Base arm | YAM (6-DOF, CAN bus) |
+| End effector | `yam_teaching_handle` |
+| Price | $2,999 |
+| Typical use | Bimanual teleoperation (YAM Cell) |
+
+## Teaching Handle
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+| Control | Function |
+|---------|----------|
+| **Trigger** | Open / close the follower gripper |
+| **Top button** | Enable / disable arm synchronisation |
+| **Second button** | User-programmable |
+
+### Reading the trigger
+
+```bash
+python scripts/read_encoder.py --channel $CAN_CHANNEL
+```
+
+Example output:
+
+```
+[PassiveEncoderInfo(id=1294, position=0.004382, velocity=0.0, io_inputs=[0, 0])]
+```
+
+- `position` β follower gripper command (`0.0` = open, `~1.0` = closed)
+- `io_inputs` β button states
+
+### Resetting encoder zero
+
+If the magnet has shifted or after repairs:
+
+```bash
+python devices/config_passive_encoder.py --bus $CAN_CHANNEL reset-zero-position
+```
+
+Re-run `read_encoder.py` to confirm the trigger-released reading is near `0.0`.
+
+## Teleoperation Setup
+
+The leader arm is launched via `minimum_gello.py` in leader mode:
+
+```bash
+python examples/minimum_gello/minimum_gello.py \
+ --gripper yam_teaching_handle \
+ --mode leader \
+ --can-channel can_leader_l
+```
+
+For full bimanual setup see [Bimanual Teleoperation](/examples/bimanual-teleoperation).
+
+## Videos
+
+
+
+
+## See Also
+
+- [YAM Arm](/products/yam-arm) β the follower arm
+- [YAM Cell](/products/yam-cell) β full bimanual teleoperation station
+- [Bimanual Teleoperation](/examples/bimanual-teleoperation)
+- [Grippers](/sdk/grippers)
+
+
diff --git a/docs/products/yam.md b/docs/products/yam.md
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+
+
+# YAM Arm Series
+
+
+
+**YAM** (Yet Another Manipulator) is I2RT's flagship robotic arm β a 6-DOF, CAN busβdriven manipulator designed for real-world research and embodied AI data collection. The YAM family spans four tiers to match different reach, payload, and budget requirements.
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+
+
+## Model Overview
+
+| Model | Price | Notes |
+|-------|-------|-------|
+| **YAM** | $2,999 | Standard research arm |
+| **YAM Pro** | $3,499 | Enhanced actuators |
+| **YAM Ultra** | $4,299 | Highest spec standard arm |
+| **BIG YAM** | $4,999 | Larger reach and payload |
+| **YAM Leader** | $2,999 | Teaching handle for teleoperation |
+
+## Specifications
+
+| Parameter | Value |
+|-----------|-------|
+| Degrees of Freedom | 6 |
+| Communication | CAN bus (1 Mbit/s) |
+| Motor Series | DM series brushless |
+| Control Modes | Joint position PD Β· Gravity compensation Β· Zero-gravity |
+| Simulation | MuJoCo (MJCF + URDF provided) |
+| Safety | 400 ms motor timeout (configurable) |
+| Mounting | Table-top (standard) |
+
+## Grippers
+
+YAM supports four interchangeable end effectors:
+
+