Seeed reBot Arm B601 Teleoperator Integration with LeRobot

This repository provides the Leader Arm (Teleoperator) integration for the reBot Arm B601 with the LeRobot framework. It enables the B601 arm to be used for teleoperation - reading human operator movements to control follower robots.

Supported Hardware

• Robot: Seeed reBot Arm B601 Series (6-DOF + Gripper)
• Motors: Damiao (DM4310 + DM4340), RobStride
• Communication: CAN Bus (via USB-CAN adapter, including Damiao's v3 USB2CAN adapter)

Installation

1. Install LeRobot: Follow the instructions in the LeRobot repository to install the base library. A very quick summary would be like the following.

   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 motorbridge Python Package

   # goto https://github.com/tianrking/motorbridge/releases
   # find the proper python wheel for your platform
   # e.g. ubuntu x86_64, python3.12, we should download https://github.com/tianrking/motorbridge/releases/download/v0.1.5/motorbridge-0.1.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
   # with your conda env activated
   pip install motorbridge-0.1.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
   
   # TODO: install from pypi

   You could also install the motor-cli tool，a very useful motor tool.

   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
   
   ## new version may be released, you should check the lates version
   

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

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

   Or install from PyPI:

   pip install lerobot-teleoperator-seeed-b601

   Upon installation, two teleoperator variants are registered:

   • seeed_b601_dm_leader: B601 Leader using Damiao motors (6-DOF + Gripper) - Fully Implemented
   • seeed_b601_rs_leader: B601 Leader using RobStride motors (6-DOF + Gripper) - Placeholder

   # test if the installation is good
   lerobot-teleoperate --help | grep SeeedB601
   
   # if you see the following you're good
   SeeedB601DMLeaderConfig ['teleop']:
   SeeedB601RSLeaderConfig ['teleop']:

Configuration

Default motor mapping for the B601 leader:

• 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

Ensure your motor names, IDs, wiring, and motor models match this configuration.

TODO: Refer to the wiki page for the guide to configure the motors.

TODO: A script that utilize the motorbridge to configure the deep parameters of the motor.

Usage

lerobot-teleoperate \
    --robot.id=follower1 \
    --robot.type=seeed_b601_dm_follower \
    --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 cameras,

lerobot-teleoperate \
    --robot.type=seeed_b601_dm_follower \
    --robot.port=/dev/ttyACM4 \
    --robot.can_adapter=damiao \
    --robot.id=my_awesome_follower_arm \
    --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.port=/dev/ttyACM5 \
    --teleop.id=my_awesome_leader_arm \
    --robot.can_adapter=damiao \
    --display_data=true

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

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