fix(robots): restore joint clipping and wrist_yaw fallback in ReBot B601 send_action

src/lerobot/robots/rebot_b601_follower/rebot_b601_follower.py

@@ -244,6 +244,22 @@ class RebotB601Follower(Robot):
         """
         goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
 
+        # Clip against soft joint limits.
+        for motor_name in list(goal_pos):
+            if motor_name in self.config.joint_limits:
+                min_limit, max_limit = self.config.joint_limits[motor_name]
+                clipped = max(min_limit, min(max_limit, goal_pos[motor_name]))
+                if clipped != goal_pos[motor_name]:
+                    logger.debug(f"Clipped {motor_name} from {goal_pos[motor_name]:.2f} to {clipped:.2f}")
+                goal_pos[motor_name] = clipped
+
+        # Tolerate 6-DOF leaders that have no wrist_yaw joint by holding it at zero.
+        # This is intentional: it lets a 6-DOF leader such as the SO-100 / SO-101
+        # (so100_leader / so101_leader) teleoperate this 7-DOF follower — the missing
+        # wrist_yaw command is simply treated as 0.0 instead of raising.
+        if "wrist_yaw" not in goal_pos:
+            goal_pos["wrist_yaw"] = 0.0
+
         # Cap relative target when too far from the present position.
         if self.config.max_relative_target is not None:
             present_pos = self._present_pos()