rebot-devarm

reBot-DevArm (reBot Arm B601-DM and B601-RS) is an open-source robotic arm project from Seeed Studio that aims to lower the barrier to embodied AI development. The project provides 100% open-source hardware and software: STEP files for all sheet-metal and 3D-printed parts, a detailed bill of materials down to individual screws, and a full software stack including a Python SDK (MotorBridge), ROS 1/2 drivers with MoveIt 2 support, Pinocchio integration for kinematics and gravity compensation, NVIDIA Isaac Sim digital twins, and Hugging Face LeRobot compatibility for imitation learning and policy training. Two motor variants are offered: the B601-DM (Damiao motors, 24 V, 1.5 kg payload, ~4.5 kg weight) and the B601-RS (Robostride motors, 48 V, 2.5 kg payload, ~6.7 kg weight). Both share the same 6-DOF plus gripper kinematics and 750 mm reach. The repository includes assembly guides, performance test data, and example applications such as depth-camera-based visual grasping (YOLO + RealSense/Orbbec), voice control via reSpeaker, and an embodied agent that executes natural-language pick-and-place commands. Hardware files are organized under `hardware/reBot_B601_DM/` and `hardware/reBot_B601_RS/` with STEP models, BOM spreadsheets, and 3D-printable accessory mounts for wrist cameras (Intel RealSense D405/D435i, Orbbec Gemini 2/335) and alternative grippers. The project is licensed under CERN-OHL-W-2.0 for hardware and Apache-2.0 for software. Community contributions have added ROS 2 diagnostics, safe park/shutdown, gamepad teleoperation, and D405 eye-in-hand TF definitions. An interactive MuJoCo browser demo and a sim-to-real NVIDIA Isaac Lab course are also provided.