feat(rebot-b601,stararm): add zero-pose calibration for B601-RS and Star Arm leaders - #325
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alfieroddan wants to merge 13 commits into
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alfieroddan wants to merge 13 commits into
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Copilot review overview
🟡 Changes recommended
Star Arm calibration can leave configured leaders locked, and RS stall detection can continuously flood logs.
Review effort: Balanced
Findings: 2
Open (2)
What changed in this PR
Adds guided zero-pose calibration for B601-RS followers and Star Arm leaders, including prerequisite driver, safety, and visualization improvements.
Changes:
- Introduces the public
RobotCalibrationcontract. - Adds calibration support to both robot plugins.
- Adds RS motion controls/preview and Star Arm synchronized reads.
| File | Description |
|---|---|
packages/physicalai-studio-plugin/src/physicalai_studio_plugin/calibration.py |
Defines calibration metadata and validation. |
packages/physicalai-studio-plugin/src/physicalai_studio_plugin/catalog.py |
Adds calibration to catalog definitions. |
packages/physicalai-studio-plugin/src/physicalai_studio_plugin/__init__.py |
Exports the calibration API. |
packages/physicalai-studio-plugin/tests/test_contracts.py |
Tests calibration contracts. |
packages/physicalai-studio-plugin/tests/test_imports.py |
Tests the public export. |
packages/physicalai-studio-plugin/README.md |
Documents plugin calibration. |
packages/physicalai-stararm-plugin/src/physicalai_stararm_plugin/stararm102hd.py |
Adds zeroing and synchronized, filtered reads. |
packages/physicalai-stararm-plugin/src/physicalai_stararm_plugin/studio_catalog.py |
Registers leader calibration. |
packages/physicalai-stararm-plugin/tests/test_leader.py |
Tests zeroing and synchronized reads. |
packages/physicalai-stararm-plugin/tests/test_studio_catalog.py |
Tests calibration registration. |
packages/physicalai-stararm-plugin/README.md |
Documents leader calibration. |
packages/physicalai-stararm-plugin/pyproject.toml |
Raises the Studio contract dependency. |
packages/physicalai-rebot-b601-plugin/src/physicalai_rebot_b601_plugin/rs.py |
Adds zeroing, step limits, and gripper safeguards. |
packages/physicalai-rebot-b601-plugin/src/physicalai_rebot_b601_plugin/studio_catalog.py |
Registers calibration, settings, and preview. |
packages/physicalai-rebot-b601-plugin/tests/test_rs.py |
Tests RS control and calibration behavior. |
packages/physicalai-rebot-b601-plugin/tests/test_studio_catalog.py |
Tests RS catalog integration. |
packages/physicalai-rebot-b601-plugin/urdf/rebot-b601-rs/urdf/00-arm-rs_asm-v3_joint_frame.urdf |
Adds a joint-frame preview model. |
packages/physicalai-rebot-b601-plugin/examples/runtime/teleop-rs.yaml |
Enables safer 60-FPS teleoperation. |
packages/physicalai-rebot-b601-plugin/README.md |
Documents RS calibration and preview. |
packages/physicalai-rebot-b601-plugin/pyproject.toml |
Raises the Studio contract dependency. |
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…nd unlock Star Arm leaders first
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Why: Studio can't set the RS follower's or Star Arm leaders' zero pose, so they must be calibrated outside it.
Fix: Add
set_zero_position()to both drivers and register aRobotZeroCalibrationfor the RS follower and LD/HD leaders.Depends on #323, #324 (and so #322) and #321.