update readme, prepare the pypi release env

Author: KillingJacky

.github/workflows/python-publish.yml

@@ -1,38 +1,57 @@
 name: Publish Python Package
 
 on:
-  release:
-    types: [published]
-  # push:
-  #   branches:
-  #     - main
+  push:
+    tags:
+      - "v*.*.*"
 
 jobs:
   pypi-publish:
-    name: Upload release to PyPI
+    name: Build and publish to PyPI
     runs-on: ubuntu-latest
-    
+
     environment:
       name: pypi
-      url: https://pypi.org/p/lerobot-robot-xarm
+      url: https://pypi.org/p/lerobot-teleoperator-seeed-b601
     permissions:
+      contents: write
       id-token: write
+
     steps:
-    - name: Checkout repository
-      uses: actions/checkout@v3
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Ensure tag commit is on main
+        run: |
+          git fetch origin main --depth=1
+          git merge-base --is-ancestor "$GITHUB_SHA" "origin/main"
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+          cache: "pip"
+
+      - name: Install build tools
+        run: |
+          python -m pip install --upgrade pip
+          pip install build twine
 
-    - name: Set up Python
-      uses: actions/setup-python@v4
-      with:
-        python-version: '3.10'
+      - name: Build package
+        run: python -m build
 
-    - name: Install build tools
-      run: |
-        python -m pip install --upgrade pip
-        pip install build
+      - name: Check distributions
+        run: twine check dist/*
 
-    - name: Build package
-      run: python -m build
+      - name: Publish package distributions to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
 
-    - name: Publish package distributions to PyPI
-      uses: pypa/gh-action-pypi-publish@release/v1
+      - name: Create GitHub Release
+        uses: softprops/action-gh-release@v2
+        with:
+          files: dist/*
+          generate_release_notes: true
+          draft: false
+          prerelease: false

README.md

@@ -6,61 +6,127 @@ This repository provides the **Leader Arm (Teleoperator)** integration for the *
 
 *   **Robot**: Seeed reBot Arm B601 Series (6-DOF + Gripper)
 *   **Motors**: Damiao (DM4310 + DM4340), RobStride
-*   **Communication**: CAN Bus (via USB-CAN adapter, e.g., derivatives of Candle/slcan or SocketCAN compatible devices)
+*   **Communication**: CAN Bus (via USB-CAN adapter, including Damiao's v3 USB2CAN adapter)
 
 ## Installation
 
 1.  **Install LeRobot**:
-    Follow the instructions in the [LeRobot repository](https://github.com/huggingface/lerobot) to install the base library.
+    Follow the instructions in the [LeRobot repository](https://github.com/huggingface/lerobot) to install the base library. A very quick summary would be like the following.
+
+    ```shell
+    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**
+
+    ```shell
+    # 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.
 
-2.  **Install this package**:
+    ```shell
+    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:
     ```bash
-    git clone https://github.com/Seeed-Studio/lerobot-teleoperator-seeed-b601.git
+    git clone https://github.com/Seeed-Projects/lerobot-teleoperator-seeed-b601.git
     cd lerobot-teleoperator-seeed-b601
     pip install -e .
     ```
 
+    Or install from PyPI:
+    ```bash
+    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**
+   
+    ```shell
+    # test if the installation is good
+    lerobot-teleoperate --help | grep SeeedB601
+
+    # if you see the following you're good
+    SeeedB601DMLeaderConfig ['teleop']:
+    SeeedB601RSLeaderConfig ['teleop']:
+    ```
 
 ## Configuration
 
-The default configuration for B601-DM Leader is located in `lerobot_teleoperator_seeed_b601/config_seeed_b601_dm_leader.py`.
-
-*   **Motor IDs**: 0x01 - 0x07 (send), 0x11 - 0x17 (receive)
-*   **Motor Types**:
-    *   Joint 1, 4, 5, 6, Gripper: `dm4310`
-    *   Joint 2, 3: `dm4340`
+Default motor mapping for the B601 leader:
 
-Ensure your robot's motor IDs match this configuration.
+*   `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_roll`: master ID `0x05`, feedback ID `0x15`, motor model `dm4310`
+*   `wrist_yaw`: master ID `0x06`, feedback ID `0x16`, motor model `dm4310`
+*   `gripper`: master ID `0x07`, feedback ID `0x17`, motor model `dm4310`
 
-TODO: Refer to the wiki page for the guide to configure the motors.
+*   **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
 
-## Usage
+Ensure your motor names, IDs, wiring, and motor models match this configuration.
 
-### Quick Start
+TODO: Refer to the wiki page for the guide to configure the motors.
 
-A verification script is provided to test the connection and read basic motor states (joint positions).
+TODO: A script that utilize the motorbridge to configure the deep parameters of the motor.
 
-```bash
-# Linux (SocketCAN)
-python examples/verification_dm.py --port can0
+## Usage
 
-# macOS (slcan)
-python examples/verification_dm.py --port /dev/tty.usbmodemXXX
+```shell
+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
 ```
 
-### Use within LeRobot
+Teleoperate with cameras,
 
-```bash
+```shell
 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=can0 \
-    --robot.type=<your_follower_robot> \
-    --robot.port=can1 \
-    --fps=30
+    --teleop.port=/dev/ttyACM5 \
+    --teleop.id=my_awesome_leader_arm \
+    --robot.can_adapter=damiao \
+    --display_data=true
 ```
 
-TODO: Write the full guide to use this teleoperator within LeRobot.
+Fore more lerobot operations, please refer to the lerobot official documentation:
+
+https://huggingface.co/docs/lerobot/il_robots
+
+

pyproject.toml

@@ -1,10 +1,10 @@
 [build-system]
-requires = ["setuptools>=61", "wheel"]
+requires = ["setuptools>=61", "setuptools-scm[toml]>=8", "wheel"]
 build-backend = "setuptools.build_meta"
 
 [project]
 name = "lerobot_teleoperator_seeed_b601"
-version = "0.1.0"
+dynamic = ["version"]
 description = "Seeed reBot Arm B601 Teleoperator integration with LeRobot"
 readme = "README.md"
 authors = [
@@ -26,3 +26,7 @@ dependencies = [
 where = ["."]
 include = ["lerobot_teleoperator_seeed_b601"]
 exclude = ["*.egg-info"]
+
+[tool.setuptools_scm]
+tag_regex = "^v(?P<version>\\d+\\.\\d+\\.\\d+)$"
+fallback_version = "0.0.0"