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

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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>
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Pepijn
2026-05-18 11:45:06 +02:00
parent ed14a714f4
commit eae2d0a1ac
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docs/source/rebot_b601.mdx
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@@ -156,11 +156,21 @@ lerobot-teleoperate \
<Tip>
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.
</Tip>
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.