Seeed reBot Arm B601 Follower Integration with LeRobot

This repository provides the Follower Arm (Robot) integration for the reBot Arm B601 with the LeRobot framework. It enables the B601 arm to be used as a follower robot in teleoperation and data collection workflows.

Supported Hardware

• Robot: Seeed reBot Arm B601 Series (6-DOF + Gripper)
• Motors: Damiao (DM4340 + DM4310), RobStride
• Communication: CAN bus via USB-CAN adapter, including SocketCAN-compatible adapters and Damiao's USB2CAN adapter

Installation

1. Install LeRobot: Follow the instructions in the LeRobot repository to install the base library. A very quick summary is shown below.

   conda create -y -n lerobot python=3.12
   conda activate lerobot
   conda install ffmpeg -c conda-forge
   git clone https://github.com/huggingface/lerobot.git
   cd lerobot
   pip install -e .

2. Install the motorbridge Python package:

   # Go to https://github.com/tianrking/motorbridge/releases
   # Download the wheel that matches your platform and Python version
   # Example for Ubuntu x86_64 with Python 3.12:
   pip install motorbridge-0.1.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
   
   # TODO: switch to pip install from PyPI once published

   You can also install the optional motor_cli utility:

   wget https://github.com/tianrking/motorbridge/releases/download/v0.1.5/motor-cli-v0.1.5-linux-x86_64.tar.gz
   tar zxvf motor-cli-v0.1.5-linux-x86_64.tar.gz
   sudo cp motor-cli-v0.1.5-linux-x86_64/bin/motor_cli /usr/local/bin/
   sudo chmod a+x /usr/local/bin/motor_cli

3. Install this package: Clone this repository and install it in editable mode:

   git clone https://github.com/Seeed-Projects/lerobot-robot-seeed-b601.git
   cd lerobot-robot-seeed-b601
   pip install -e .

   Or install from PyPI:

   pip install lerobot-robot-seeed-b601

   Upon installation, two robot variants are registered:

   • seeed_b601_dm_follower: B601 follower using Damiao motors - Primary supported path
   • seeed_b601_rs_follower: B601 follower using RobStride motors - Registered, still being refined

   # Verify that the follower configs are visible to LeRobot
   lerobot-teleoperate --help | grep SeeedB601
   
   # Expected output includes
   SeeedB601DMFollowerConfig ['robot']:
   SeeedB601RSFollowerConfig ['robot']:

Configuration

Default motor mapping for the B601 follower:

• shoulder_pan: master ID 0x01, feedback ID 0x11, motor model dm4340p

• shoulder_lift: master ID 0x02, feedback ID 0x12, motor model dm4340p

• elbow_flex: master ID 0x03, feedback ID 0x13, motor model dm4340p

• wrist_flex: master ID 0x04, feedback ID 0x14, motor model dm4310

• wrist_yaw: master ID 0x05, feedback ID 0x15, motor model dm4310

• wrist_roll: master ID 0x06, feedback ID 0x16, motor model dm4310

• gripper: master ID 0x07, feedback ID 0x17, motor model dm4310

• CAN adapter types:

  • socketcan: for SocketCAN-compatible adapters such as can0
  • damiao: for Damiao serial bridge adapters such as /dev/ttyACM0
  • robstride: registered in config, but the dedicated adapter path is not yet supported by the current motorbridge Python SDK integration

Make sure your actual motor names, IDs, wiring, and motor models match these defaults before running calibration or teleoperation.

Usage

Pair a follower with a B601 leader

lerobot-teleoperate \
    --robot.type=seeed_b601_dm_follower \
    --robot.id=follower1 \
    --robot.port=/dev/ttyACM4 \
    --robot.can_adapter=damiao \
    --teleop.type=seeed_b601_dm_leader \
    --teleop.id=leader1 \
    --teleop.port=/dev/ttyACM5 \
    --teleop.can_adapter=damiao

Teleoperate with follower cameras

lerobot-teleoperate \
    --robot.type=seeed_b601_dm_follower \
    --robot.id=my_b601_follower \
    --robot.port=/dev/ttyACM4 \
    --robot.can_adapter=damiao \
    --robot.cameras="{ up: {type: opencv, index_or_path: /dev/video10, width: 640, height: 480, fps: 30}, side: {type: intelrealsense, serial_number_or_name: 233522074606, width: 640, height: 480, fps: 30}}" \
    --teleop.type=seeed_b601_dm_leader \
    --teleop.id=my_b601_leader \
    --teleop.port=/dev/ttyACM5 \
    --teleop.can_adapter=damiao \
    --display_data=true

Fore more lerobot operations, please refer to the lerobot official documentation:

https://huggingface.co/docs/lerobot/il_robots

Notes

• About calibration: the reBot Arm doesn't need an explicit calibration, it only reset every motor's zero position on the launch time of the lerobot scripts.