physicalai-rebot-b601-plugin

Third-party Seeed reBot B601 robot arm plugin for PhysicalAI.

Provides concrete implementations of the Robot protocol for:

Class	Arm	Motors	Protocol
`ReBotB601DM`	B601-DM follower	Damiao (via `motorbridge`)	POS_VEL / FORCE_POS
`ReBotB601RS`	B601-RS follower	RobStride (via `motorbridge`)	MIT mode + gripper impedance
`ReBotArm102Leader`	Arm 102 leader	FashionStar UART (via `motorbridge-smart-servo`)	Read-only

Installation

uv add physicalai-rebot-b601-plugin

motorbridge and motorbridge-smart-servo are included as core dependencies.

Usage

import numpy as np
from physicalai.robot import Robot, connect
from physicalai_rebot_b601_plugin import ReBotB601DM

robot = ReBotB601DM(port="/dev/ttyACM0", can_adapter="damiao")

with connect(robot) as arm:
    obs = arm.get_observation()
    action = obs.joint_positions.copy()
    arm.send_action(action)

All classes satisfy isinstance(robot, Robot) — no inheritance or registration required. Use with physicalai.robot.connect and physicalai.robot.verify_robot.

URDF Models

Bundled URDF descriptions for gravity compensation and kinematics:

from physicalai_rebot_b601_plugin import get_urdf_path

urdf_dir = get_urdf_path()

# B601-DM / fixend arm (for gravity compensation)
dm_urdf = urdf_dir / "rebot-b601-dm" / "urdf" / "reBot-DevArm_fixend.urdf"

# B601-RS arm
rs_urdf = urdf_dir / "rebot-b601-rs" / "urdf" / "00-arm-rs_asm-v3.urdf"

# Star Arm 102 (leader)
star_urdf = urdf_dir / "stararm102" / "urdf" / "stararm102_description.urdf"

URDF	Model	Use
`rebot-b601-dm`	B601-DM (fixend)	Gravity compensation for `ReBotB601DM`
`rebot-b601-rs`	B601-RS v3	Kinematics for `ReBotB601RS`
`stararm102`	Star Arm 102	Kinematics for `ReBotArm102Leader`

Acknowledgments

URDF models for the reBot Arm B601 are from the reBotArm_control_py project, released under the MIT License by vectorBH6.

The Star Arm 102 URDF is from the Star-Arm-102 project.

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