From eae2d0a1ac4577fc03bfc68ee435aa73fdf6395e Mon Sep 17 00:00:00 2001 From: Pepijn Date: Mon, 18 May 2026 11:45:06 +0200 Subject: [PATCH] docs: fix reBot B601 MDX build (move JSON example out of ) 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) --- docs/source/rebot_b601.mdx | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) diff --git a/docs/source/rebot_b601.mdx b/docs/source/rebot_b601.mdx index f38d9d830..4d7a817c8 100644 --- a/docs/source/rebot_b601.mdx +++ b/docs/source/rebot_b601.mdx @@ -156,11 +156,21 @@ lerobot-teleoperate \ The leader and follower share the same joint names (`shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_yaw, wrist_roll, gripper`), - so leader actions map directly onto the follower. If the motion of a joint is - reversed, flip its sign in `joint_directions` — e.g. - `--teleop.joint_directions='{"shoulder_pan":-1,"shoulder_lift":-1,"elbow_flex":1,"wrist_flex":1,"wrist_yaw":1,"wrist_roll":-1,"gripper":-6}'`. + so leader actions map directly onto the follower. +If the motion of a joint is reversed, flip its sign in the leader's `joint_directions` (the gripper also carries a scale to widen its range to the follower): + +```bash +lerobot-teleoperate \ + --robot.type=rebot_b601_follower \ + --robot.port=/dev/ttyACM0 \ + --robot.can_adapter=damiao \ + --teleop.type=rebot_102_leader \ + --teleop.port=/dev/ttyUSB0 \ + --teleop.joint_directions='{"shoulder_pan":-1,"shoulder_lift":-1,"elbow_flex":1,"wrist_flex":1,"wrist_yaw":1,"wrist_roll":-1,"gripper":-6}' +``` + ## Recording datasets Swap `lerobot-teleoperate` for `lerobot-record` (with the same `--robot.*` / `--teleop.*` arguments, plus `--dataset.*`) to record demonstrations for training. See [Imitation Learning for Robots](./il_robots) for the full workflow.