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) followers plus a Star Arm 102 leader
• Leader → follower teleoperation via the built-in TeleopSource
• Bundled URDFs for gravity compensation and kinematics

Hardware

Screenshots

Placeholder images — replace them with real screenshots.

Installation

uv add physicalai-rebot-b601-plugin

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

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 configs relay a ReBotArm102Leader to a B601-DM or B601-RS follower:

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

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"

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.

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