reBot Arm B601-DM Pinocchio & MeshCat Getting Started Guide

6-DOF Robotic Arm · Multi-Motor Support · Kinematics Solver · Trajectory Planning · Fully Open Source

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📖 Introduction

reBotArm Control is a Python control library for the reBot Arm B601 robotic arm, providing a complete solution from low-level motor control to high-level kinematics computation.

✨ Core Features

• 🦾 Dual Model Support — B601-DM (Damiao motors) and B601-RS (RobStride motors)
• 🧮 Kinematics Solver — Forward/Inverse kinematics based on Pinocchio
• 🛤️ Trajectory Planning — SE(3) geodesic trajectory + CLIK tracking
• 🔧 Flexible Configuration — YAML configuration file for quick hardware adaptation

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⚙️ Quick Start

Requirements

Item	Requirement
Python	3.10+
Operating System	Ubuntu 22.04+
Communication Interface	USB2CAN Serial Bridge or CAN Interface

Installation Steps

Step 1. Install uv (if not installed)

curl -LsSf https://astral.sh/uv/install.sh | sh

Step 2. Sync Environment (Install All Dependencies)

git clone https://github.com/Seeed-Projects/reBotArm_control_py.git
cd reBotArm_control_py
uv sync

:::tip uv sync will automatically create a virtual environment (if it doesn't exist) and install all dependencies according to pyproject.toml and uv.lock. :::

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🔌 Hardware Configuration

Default: Damiao USB2CAN Serial Bridge

reBot Arm B601-DM uses the Damiao USB2CAN serial bridge module by default.

Hardware Connection:

1. Connect the USB2CAN module to your computer via USB cable
2. The system will automatically recognize it as /dev/ttyACM0 device

Configuration Verification:

# Check device
ls /dev/ttyACM0

# Scan motors
motorbridge-cli scan --vendor damiao --transport dm-serial \
    --serial-port /dev/ttyACM0 --serial-baud 921600

Optional: Standard CAN Interface

Using other USB-CAN adapters (CANable, PCAN, etc.):

# Start CAN interface
sudo ip link set can0 up type can bitrate 500000

# Verify interface
ip -details link show can0

Motor Brand Configuration

Motor Brand	Transmission	Configuration	Baud Rate
Damiao	Serial Bridge	dm-serial	921600
Damiao	CAN Interface	socketcan	500000
RobStride	CAN Interface	socketcan	500000

:::tip

• For Damiao motors using serial bridge, must set --transport dm-serial
• Feedback ID rule: feedback_id = motor_id + 0x10 :::

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📁 Project Structure

reBotArm_control_py/
├── config/                     # Configuration files
│   └── robot.yaml              # Joint parameter configuration
├── example/                    # Example programs
│   ├── Debug Tools/
│   │   ├── 1_damiao_text.py        # Single motor console
│   │   └── 2_zero_and_read.py      # Zero calibration
│   ├── Kinematics Tests/
│   │   ├── 5_fk_test.py            # Forward kinematics
│   │   └── 6_ik_test.py            # Inverse kinematics
│   ├── Real Machine Control/
│   │   ├── 7_arm_ik_control.py     # IK real-time control
│   │   ├── 8_arm_traj_control.py   # Trajectory planning
│   │   └── 9_gravity_compensation.py  # Gravity compensation
│   └── sim/                    # Simulation tools
├── reBotArm_control_py/        # Core library
│   ├── actuator/               # Actuator module
│   ├── kinematics/             # Kinematics module
│   ├── controllers/            # Controller module
│   └── trajectory/             # Trajectory planning module
├── urdf/                       # URDF model
└── README.md

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📚 Wiki Documentation

📖 For complete usage of every demo, please refer to the official wiki:

👉 DM Version (Damiao Motors): https://wiki.seeedstudio.com/rebot_arm_b601_dm_pinocchio_meshcat/

👉 RS Version (RobStride Motors): https://wiki.seeedstudio.com/rebot_arm_b601_rs_pinocchio_meshcat/

Example Scripts (overview only)

The example/ folder ships the following scripts. For input formats, interactive commands, expected behavior, safety notes, and parameter tuning, please consult the wiki — those details are no longer maintained in this README.

• 0x01rs06_test.py / 1_damiao_test.py — Single motor console (vendor-specific)
• 2_zero_and_read.py — Zero calibration & angle monitoring
• 3_mit_control.py — MIT-mode joint control
• 4_pos_vel_control.py — POS_VEL-mode joint control
• 5_fk_test.py / 6_ik_test.py — Forward / inverse kinematics tests
• 7_arm_ik_control.py / 8_arm_traj_control.py — IK real-time / trajectory control
• 9_gravity_compensation.py / 10_gravity_compensation_lock.py — Gravity compensation
• sim/fk_sim.py / sim/ik_sim.py / sim/traj_sim.py — Simulation utilities (no hardware required)

Why are the detailed usage instructions no longer in this README?

To keep a single source of truth and guarantee tutorial consistency, all demo-specific usage (input formats, interactive commands, expected behavior, safety notes, parameter tuning) has been moved to the wiki. If the two ever drift, the wiki wins. Please open issues / PRs against the wiki when content needs updating.

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📄 License

This project is open source under the MIT License.

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☎ Contact Us

• Technical Support: Submit Issue
• Repository: GitHub

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