diff --git a/docs/source/_toctree.yml b/docs/source/_toctree.yml index de4eeaa28..c97a552a0 100644 --- a/docs/source/_toctree.yml +++ b/docs/source/_toctree.yml @@ -141,6 +141,8 @@ title: OMX - local: openarm title: OpenArm + - local: rebot_b601 + title: reBot B601-DM title: "Robots" - sections: - local: phone_teleop diff --git a/docs/source/rebot_b601.mdx b/docs/source/rebot_b601.mdx new file mode 100644 index 000000000..f38d9d830 --- /dev/null +++ b/docs/source/rebot_b601.mdx @@ -0,0 +1,168 @@ +# reBot B601-DM + +[reBot B601-DM](https://wiki.seeedstudio.com/rebot_arm_b601_dm_lerobot/) is an open-source, low-cost robot arm from Seeed Studio for embodied-AI and imitation learning. It comes as a **follower** arm (the `B601-DM`, a 6-DOF arm plus gripper driven by Damiao CAN motors) and a **leader** arm (the `StarArm102` / `reBot Arm 102`, driven by FashionStar UART smart servos) used to teleoperate it. + +This page covers **calibration** and **teleoperation** for both single-arm and bimanual (dual-arm) setups. + +
+ reBot B601-DM follower arm at its zero position + reBot Arm 102 leader arm at its zero position +
+ +_Left: the B601-DM follower at its zero position. Right: the reBot Arm 102 leader at its zero position. Images courtesy of [Seeed Studio](https://wiki.seeedstudio.com/rebot_arm_b601_dm_lerobot/)._ + +## Install LeRobot 🤗 + +Follow our [Installation Guide](./installation), then install the reBot support: + +```bash +pip install -e ".[rebot]" +``` + +This pulls in `motorbridge` (CAN motor control for the B601-DM follower) and `motorbridge-smart-servo` (FashionStar UART servos for the reBot Arm 102 leader). + + + On Linux, remove `brltty` (`sudo apt remove brltty`) so it does not hold the + leader's USB serial port. You may also need to grant access to the serial + devices: `sudo chmod 666 /dev/ttyACM* /dev/ttyUSB*`. + + +## Registered device types + +| Type | Kind | +| ------------------------ | -------------------------------------------- | +| `rebot_b601_follower` | single-arm B601-DM follower robot | +| `bi_rebot_b601_follower` | bimanual (dual-arm) follower robot | +| `rebot_102_leader` | single-arm reBot Arm 102 leader teleoperator | +| `bi_rebot_102_leader` | bimanual (dual-arm) leader teleoperator | + +The bimanual types compose two single-arm instances and namespace each arm's +observation/action keys with a `left_` / `right_` prefix. Per-arm settings are +passed through nested `left_arm_config.*` / `right_arm_config.*` arguments. + +## Calibration + +Neither arm stores a persistent hardware calibration: every time it connects, the motors are re-zeroed against the pose the arm is physically holding. Calibration simply records that zero pose. When prompted, **manually move the arm to its zero position** (the default sit-down pose shown above, gripper fully closed) and press ENTER. + +### Follower (B601-DM) + + + + +```bash +lerobot-calibrate \ + --robot.type=rebot_b601_follower \ + --robot.port=/dev/ttyACM0 \ + --robot.id=follower \ + --robot.can_adapter=damiao +``` + + + + +Connect the bimanual follower; calibration runs for the left arm, then the right arm. + +```bash +lerobot-calibrate \ + --robot.type=bi_rebot_b601_follower \ + --robot.id=bi_follower \ + --robot.left_arm_config.port=/dev/ttyACM0 \ + --robot.left_arm_config.can_adapter=damiao \ + --robot.right_arm_config.port=/dev/ttyACM1 \ + --robot.right_arm_config.can_adapter=damiao +``` + +Per-arm calibration files are saved with `_left` / `_right` suffixes on the id. + + + + +### Leader (reBot Arm 102) + + + + +```bash +lerobot-calibrate \ + --teleop.type=rebot_102_leader \ + --teleop.port=/dev/ttyUSB0 \ + --teleop.id=leader +``` + + + + +```bash +lerobot-calibrate \ + --teleop.type=bi_rebot_102_leader \ + --teleop.id=bi_leader \ + --teleop.left_arm_config.port=/dev/ttyUSB0 \ + --teleop.right_arm_config.port=/dev/ttyUSB1 +``` + + + + +## Teleoperation + +Once both arms are calibrated, drive the follower with the leader. The follower talks to its CAN bus through a Damiao serial bridge (`can_adapter=damiao`, the default) or a SocketCAN adapter (`can_adapter=socketcan`). + + + + +```bash +lerobot-teleoperate \ + --robot.type=rebot_b601_follower \ + --robot.port=/dev/ttyACM0 \ + --robot.id=follower \ + --robot.can_adapter=damiao \ + --teleop.type=rebot_102_leader \ + --teleop.port=/dev/ttyUSB0 \ + --teleop.id=leader +``` + + + + +The bimanual leader and follower reuse the single-arm classes; each arm is +configured through nested `left_arm_config.*` / `right_arm_config.*` arguments, +so a bimanual reBot Arm 102 leader drives a bimanual B601-DM follower. + +```bash +lerobot-teleoperate \ + --robot.type=bi_rebot_b601_follower \ + --robot.id=bi_follower \ + --robot.left_arm_config.port=/dev/ttyACM0 \ + --robot.left_arm_config.can_adapter=damiao \ + --robot.right_arm_config.port=/dev/ttyACM1 \ + --robot.right_arm_config.can_adapter=damiao \ + --teleop.type=bi_rebot_102_leader \ + --teleop.id=bi_leader \ + --teleop.left_arm_config.port=/dev/ttyUSB0 \ + --teleop.right_arm_config.port=/dev/ttyUSB1 +``` + + + + + + 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}'`. + + +## 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. + +For hardware assembly and wiring, see the [Seeed Studio reBot wiki](https://wiki.seeedstudio.com/rebot_arm_b601_dm_lerobot/).