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feat(robots): natively integrate Seeed Studio reBot B601-DM arm (#3624)

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* feat(robots): natively integrate Seeed Studio reBot B601-DM arm

Add first-class LeRobot support for the Seeed Studio reBot arm, replacing
the out-of-tree `lerobot-robot-seeed-b601` / `lerobot-teleoperator-rebot-arm-102`
plugin packages.

New devices:
- robot `rebot_b601_follower` — single-arm B601-DM follower (6-DOF + gripper,
  Damiao CAN motors via `motorbridge`)
- robot `bi_rebot_b601_follower` — bimanual follower composing two single arms
- teleoperator `rebot_102_leader` — single-arm StarArm102 / reBot Arm 102 leader
  (FashionStar UART servos via `motorbridge-smart-servo`)
- teleoperator `bi_rebot_102_leader` — bimanual leader composing two single arms

The bimanual variants reuse the single-arm classes and namespace each arm's
observation/action keys with `left_` / `right_` prefixes, so a bimanual
StarArm102 leader can teleoperate a bimanual reBot B601 follower.

Optional SDK imports are guarded; a `rebot` extra installs `motorbridge` and
`motorbridge-smart-servo`.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* docs: add reBot B601-DM calibration & dual-arm teleoperation guide

Add docs/source/rebot_b601.mdx covering single-arm and bimanual
calibration and teleoperation for the reBot B601-DM follower and
reBot Arm 102 leader, with zero-position reference images from the
Seeed Studio wiki. Register the page in the docs toctree.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* docs: fix reBot B601 MDX build (move JSON example out of <Tip>)

The doc-builder parses `{...}` inside MDX component children as a
Svelte expression, so the joint_directions JSON example broke the
build. Move it into a top-level fenced code block.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* docs: apply prettier formatting to reBot B601 page

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* docs: remove duplicate colocated reBot B601 page

docs/source/rebot_b601.mdx is the canonical, toctree-registered page;
the colocated rebot_b601.md was a redundant thinner copy.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* docs: clarify 6-DOF leader fallback comment in reBot B601 follower

Explain that holding wrist_yaw at zero is what lets a 6-DOF leader
(e.g. so100_leader / so101_leader) teleoperate the 7-DOF follower.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

* refactor: address Caroline's PR review on reBot B601 integration

- leader: remove _validate_config (no other lerobot device validates its
  config; a key mismatch now surfaces as a plain KeyError)
- leader: simplify _round_to_valid_range to direct modular arithmetic
  instead of a bidirectional search loop
- leader: inline the single-use _clamp helper
- follower & leader: write MotorCalibration range_min/range_max from the
  configured joint_limits / joint_ranges instead of a fixed [-90, 90]
- docs: add a "Find the USB ports" section (lerobot-find-port) and move
  the brltty/permissions tip there; link the OpenArm page for SocketCAN
  adapter configuration

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

---------

Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-05-18 19:49:21 +02:00
committed by GitHub
parent 5ebbdf3d05
commit 3c15fd8537
28 changed files with 1581 additions and 3 deletions
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