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

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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>
This commit is contained in:
Pepijn
2026-05-18 11:33:46 +02:00
parent 0a4a7c40ad
commit 462a8aea90
27 changed files with 1490 additions and 3 deletions
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pyproject.toml
+6
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@@ -151,6 +151,8 @@ pyserial-dep = ["pyserial>=3.5,<4.0"]
deepdiff-dep = ["deepdiff>=7.0.1,<9.0.0"]
pynput-dep = ["pynput>=1.7.8,<1.9.0"]
pyzmq-dep = ["pyzmq>=26.2.1,<28.0.0"]
motorbridge-dep = ["motorbridge>=0.3.2,<0.4.0"]
motorbridge-smart-servo-dep = ["motorbridge-smart-servo>=0.0.4,<0.1.0"]
# Motors
feetech = ["feetech-servo-sdk>=1.0.0,<2.0.0", "lerobot[pyserial-dep]", "lerobot[deepdiff-dep]"]
@@ -174,6 +176,9 @@ unitree_g1 = [
"lerobot[pygame-dep]",
]
reachy2 = ["reachy2_sdk>=1.0.15,<1.1.0"]
# Seeed Studio reBot B601-DM follower (motorbridge / CAN) + StarArm102 / reBot Arm 102
# leader (motorbridge-smart-servo / FashionStar UART servos).
rebot = ["lerobot[motorbridge-dep]", "lerobot[motorbridge-smart-servo-dep]"]
kinematics = ["lerobot[placo-dep]"]
intelrealsense = [
"pyrealsense2>=2.55.1.6486,<2.57.0 ; sys_platform != 'darwin'",
@@ -260,6 +265,7 @@ all = [
"lerobot[lekiwi]",
"lerobot[openarms]",
"lerobot[reachy2]",
"lerobot[rebot]",
"lerobot[kinematics]",
"lerobot[intelrealsense]",
"lerobot[diffusion]",