reBot Arm 102 Teleoperator for reBot B601

中文版说明

This repository provides a LeRobot teleoperator integration for the reBot Arm 102 leader arm, intended to be paired with the Seeed reBot B601 follower arm.

The implementation is intentionally opinionated:

• joint names are aligned to reBot B601
• joint directions are configured in code
• joint limits are taken directly from config
• each startup calibration sets the current servo origin to zero

Supported Setup

• Leader: reBot Arm 102
• Follower: Seeed reBot B601
• Communication: UART for reBot Arm 102, CAN or Damiao serial bridge for B601

Installation

Install LeRobot first, then install this package in editable mode:

cd lerobot-teleoperator-rebot-arm-102
pip install -e .

This package registers one teleoperator type:

• rebot_arm_102_leader

Default Mapping

• shoulder_pan -> servo ID 0
• shoulder_lift -> servo ID 1
• elbow_flex -> servo ID 2
• wrist_flex -> servo ID 3
• wrist_yaw -> servo ID 4
• wrist_roll -> servo ID 5
• gripper -> servo ID 6

Joint directions and joint limits are defined in lerobot_teleoperator_rebot_arm_102/config_rebot_arm_102_leader.py.

Usage

Standard teleoperation:

lerobot-teleoperate \
  --teleop.type=rebot_arm_102_leader \
  --teleop.id=rebot_arm_102_leader \
  --teleop.port=/dev/ttyUSB0 \
  --robot.type=seeed_b601_dm_follower \
    --robot.id=follower1 \
    --robot.port=/dev/ttyACM4 \
    --robot.can_adapter=damiao

Example Scripts

read_raw_angles.py

Purpose:

• read raw reBot Arm 102 servo angles directly from the Fashion Star SDK
• verify servo ID to joint mapping
• check whether a given joint is actually changing at the hardware level

Usage:

cd lerobot-teleoperator-rebot-arm-102
python examples/read_raw_angles.py --port /dev/ttyUSB0

What to look for:

• move only one joint at a time
• confirm the expected joint column changes
• if raw values change but teleop behavior is wrong, the problem is usually direction or range config, not the SDK readout

read_leader_follower_compare.py

Purpose:

• read reBot Arm 102 leader output and B601 follower observation side by side
• compare leader, follower, and delta per joint
• debug direction mismatches safely without sending follower commands

Prerequisite:

• need a reBot B601 arm setup
• install the python integration for reBot B601, https://github.com/Seeed-Projects/lerobot-robot-seeed-b601

Behavior:

• after connecting the B601 follower, it disables torque so the arm can be moved by hand
• it does not send action commands to the follower

Usage with a Damiao follower on can0:

cd lerobot-teleoperator-rebot-arm-102
python examples/read_leader_follower_compare.py --leader-port /dev/ttyUSB0 --follower-port can0 --follower-type dm

Usage with a Damiao follower through a Damiao serial bridge:

cd lerobot-teleoperator-rebot-arm-102
python examples/read_leader_follower_compare.py --leader-port /dev/ttyUSB0 --follower-port /dev/ttyACM0 --follower-type dm --follower-can-adapter damiao

What to look for:

• move one joint on the leader
• move the same joint by hand on the follower if needed
• compare whether leader and follower change in the same sign direction
• if one side increases while the other decreases, flip that joint in joint_directions

Notes

• Under the current implementation, startup calibration resets each reBot Arm 102 servo origin to the current pose.
• joint_ranges are taken from config, not from calibration data.
• If a joint appears stuck near one limit, check joint_ranges first.