feat(rebot-b601): expose B601-RS motion settings and 3D preview in Studio - #324
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Copilot review overview
🟡 Changes recommended
Sustained open-gripper stalls emit warnings on every control tick, causing log flooding.
Review effort: Balanced
Findings: 1
What changed in this PR
Exposes configurable B601-RS motion controls in Studio and adds a joint-frame-correct 3D preview.
Changes:
- Adds Studio payload fields for gains, torque limits, and step limiting.
- Adds RS gripper safety behavior and relative-target limiting.
- Registers and documents the corrected preview URDF with expanded tests.
| File | Description |
|---|---|
README.md |
Documents the preview URDF. |
examples/runtime/teleop-rs.yaml |
Enables step limiting and 60 fps. |
src/.../rs.py |
Adds motion limits and gripper stall handling. |
src/.../studio_catalog.py |
Exposes settings and registers the asset. |
tests/test_rs.py |
Tests driver behavior and validation. |
tests/test_studio_catalog.py |
Tests payload and asset integration. |
urdf/..._joint_frame.urdf |
Provides corrected preview joint axes. |
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Why: The Studio RS form only has the CAN port, so the step limit, gains and gripper limits are hard-coded, and the RS has no 3D preview.
Fix: Add those settings to the RS payload (step limit defaults to 10°, the rest advanced) and register a joint-frame copy of the RS URDF as its asset.
Depends on #322.