PhysicalAI reBot B601 Plugin

Third-party Seeed reBot B601 robot arm plugin for PhysicalAI, the Python library and runtime for robot control, transport, and CLI workflows. It registers with Physical AI Studio, the application that discovers catalog plugins and provides robot setup, teleoperation, and workflow experiences. Part of the physicalai-plugins monorepo.

Features

• Concrete implementations of the Robot protocol — no inheritance or registration required
• B601-DM (Damiao) and B601-RS (RobStride) follower drivers
• Optional Star Arm leader → follower teleoperation
• Bundled URDFs for gravity compensation and kinematics

Hardware

Screenshots

Placeholder images — replace them with real screenshots.

Installation

uv add physicalai-rebot-b601-plugin

motorbridge is included as a core dependency.

Quick start

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.

Run with the PhysicalAI CLI

The PhysicalAI CLI run subcommand executes a RobotRuntime from a YAML config. The bundled teleop configs relay a StarArm102HDLeader to a B601 follower. They install physicalai-stararm-plugin for the command only:

uv run --with physicalai-stararm-plugin physicalai run --config packages/physicalai-rebot-b601-plugin/examples/runtime/teleop-dm.yaml
uv run --with physicalai-stararm-plugin physicalai run --config packages/physicalai-rebot-b601-plugin/examples/runtime/teleop-rs.yaml

Press Ctrl+C to stop.

Sinusoidal motion and joint reading

uv run physicalai run --config packages/physicalai-rebot-b601-plugin/examples/runtime/move-joints-dm.yaml
uv run physicalai run --config packages/physicalai-rebot-b601-plugin/examples/runtime/move-joints-rs.yaml
uv run physicalai run --config packages/physicalai-rebot-b601-plugin/examples/runtime/read-joints-dm.yaml
uv run physicalai run --config packages/physicalai-rebot-b601-plugin/examples/runtime/read-joints-rs.yaml

Zero-pose calibration

ReBotB601RS.set_zero_position() disables torque and stores the arm's current pose as zero on every motor. Physical AI Studio runs it from its calibration step when you add a B601-RS follower: move the arm into its folded rest pose with the gripper closed, then set zero.

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"

rebot-b601-rs/urdf/00-arm-rs_asm-v3_joint_frame.urdf is a copy of the RS URDF with the elbow_flex, wrist_flex and wrist_yaw axes reversed to match the joint frame ReBotB601RS reports. Studio uses it for the 3D preview.

Development

uv sync
uv run pytest packages/physicalai-rebot-b601-plugin/tests/

Acknowledgments

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