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Pepijn
179 lines
6.3 KiB
Plaintext
179 lines
6.3 KiB
Plaintext
# reBot B601-DM
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[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.
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This page covers **calibration** and **teleoperation** for both single-arm and bimanual (dual-arm) setups.
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<div style="display: flex; align-items: center; gap: 10px;">
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<img
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src="https://files.seeedstudio.com/wiki/robotics/projects/lerobot/b601dm_zeroposition.jpg"
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alt="reBot B601-DM follower arm at its zero position"
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width="48%"
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/>
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<img
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src="https://files.seeedstudio.com/wiki/robotics/projects/lerobot/102_zeroposition.jpg"
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alt="reBot Arm 102 leader arm at its zero position"
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width="48%"
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/>
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</div>
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_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/)._
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## Install LeRobot 🤗
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Follow our [Installation Guide](./installation), then install the reBot support:
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```bash
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pip install -e ".[rebot]"
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```
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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).
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<Tip warning={true}>
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On Linux, remove `brltty` (`sudo apt remove brltty`) so it does not hold the
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leader's USB serial port. You may also need to grant access to the serial
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devices: `sudo chmod 666 /dev/ttyACM* /dev/ttyUSB*`.
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</Tip>
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## Registered device types
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| Type | Kind |
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| ------------------------ | -------------------------------------------- |
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| `rebot_b601_follower` | single-arm B601-DM follower robot |
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| `bi_rebot_b601_follower` | bimanual (dual-arm) follower robot |
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| `rebot_102_leader` | single-arm reBot Arm 102 leader teleoperator |
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| `bi_rebot_102_leader` | bimanual (dual-arm) leader teleoperator |
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The bimanual types compose two single-arm instances and namespace each arm's
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observation/action keys with a `left_` / `right_` prefix. Per-arm settings are
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passed through nested `left_arm_config.*` / `right_arm_config.*` arguments.
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## Calibration
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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 <kbd>ENTER</kbd>.
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### Follower (B601-DM)
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<hfoptions id="calibrate-follower">
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<hfoption id="Single arm">
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```bash
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lerobot-calibrate \
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--robot.type=rebot_b601_follower \
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--robot.port=/dev/ttyACM0 \
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--robot.id=follower \
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--robot.can_adapter=damiao
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```
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</hfoption>
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<hfoption id="Dual arm">
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Connect the bimanual follower; calibration runs for the left arm, then the right arm.
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```bash
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lerobot-calibrate \
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--robot.type=bi_rebot_b601_follower \
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--robot.id=bi_follower \
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--robot.left_arm_config.port=/dev/ttyACM0 \
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--robot.left_arm_config.can_adapter=damiao \
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--robot.right_arm_config.port=/dev/ttyACM1 \
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--robot.right_arm_config.can_adapter=damiao
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```
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Per-arm calibration files are saved with `_left` / `_right` suffixes on the id.
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</hfoption>
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</hfoptions>
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### Leader (reBot Arm 102)
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<hfoptions id="calibrate-leader">
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<hfoption id="Single arm">
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```bash
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lerobot-calibrate \
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--teleop.type=rebot_102_leader \
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--teleop.port=/dev/ttyUSB0 \
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--teleop.id=leader
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```
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</hfoption>
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<hfoption id="Dual arm">
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```bash
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lerobot-calibrate \
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--teleop.type=bi_rebot_102_leader \
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--teleop.id=bi_leader \
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--teleop.left_arm_config.port=/dev/ttyUSB0 \
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--teleop.right_arm_config.port=/dev/ttyUSB1
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```
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</hfoption>
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</hfoptions>
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## Teleoperation
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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`).
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<hfoptions id="teleoperate">
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<hfoption id="Single arm">
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```bash
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lerobot-teleoperate \
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--robot.type=rebot_b601_follower \
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--robot.port=/dev/ttyACM0 \
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--robot.id=follower \
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--robot.can_adapter=damiao \
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--teleop.type=rebot_102_leader \
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--teleop.port=/dev/ttyUSB0 \
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--teleop.id=leader
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```
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</hfoption>
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<hfoption id="Dual arm">
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The bimanual leader and follower reuse the single-arm classes; each arm is
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configured through nested `left_arm_config.*` / `right_arm_config.*` arguments,
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so a bimanual reBot Arm 102 leader drives a bimanual B601-DM follower.
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```bash
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lerobot-teleoperate \
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--robot.type=bi_rebot_b601_follower \
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--robot.id=bi_follower \
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--robot.left_arm_config.port=/dev/ttyACM0 \
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--robot.left_arm_config.can_adapter=damiao \
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--robot.right_arm_config.port=/dev/ttyACM1 \
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--robot.right_arm_config.can_adapter=damiao \
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--teleop.type=bi_rebot_102_leader \
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--teleop.id=bi_leader \
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--teleop.left_arm_config.port=/dev/ttyUSB0 \
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--teleop.right_arm_config.port=/dev/ttyUSB1
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```
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</hfoption>
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</hfoptions>
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<Tip>
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The leader and follower share the same joint names (`shoulder_pan,
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shoulder_lift, elbow_flex, wrist_flex, wrist_yaw, wrist_roll, gripper`), so
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leader actions map directly onto the follower.
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</Tip>
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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):
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```bash
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lerobot-teleoperate \
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--robot.type=rebot_b601_follower \
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--robot.port=/dev/ttyACM0 \
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--robot.can_adapter=damiao \
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--teleop.type=rebot_102_leader \
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--teleop.port=/dev/ttyUSB0 \
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--teleop.joint_directions='{"shoulder_pan":-1,"shoulder_lift":-1,"elbow_flex":1,"wrist_flex":1,"wrist_yaw":1,"wrist_roll":-1,"gripper":-6}'
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```
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## Recording datasets
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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.
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For hardware assembly and wiring, see the [Seeed Studio reBot wiki](https://wiki.seeedstudio.com/rebot_arm_b601_dm_lerobot/).
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