🦾 reBot-DevArm
The Open-Source Robotic Arm for Every Developer
100% Open Source · Embodied AI · Full Hardware + Software Stack
🌐 Landing Page · 📚 Tutorial Center · ▶ Online Demo
📑 Contents
- 📖 Introduction
- 🛒 Get Your reBot Arm
- 🚀 Try the Online Simulation
- 🗺️ Roadmap and Status
- ⚙️ Hardware Specifications
- 🌟 Community Showcase
- 🧹 Optional Hardware
- 🎓 Full-Stack Robotics Ecosystem
- 🙌 Acknowledgments and Contributors
- 📄 License
- ☎ Contact Us
📖 Introduction
reBot-DevArm — the reBot Arm B601-DM and reBot Arm B601-RS — is a robotic arm project dedicated to lowering the barrier to learning Embodied AI. We believe in true open source: not just the code, but everything, released without reservation.
- 🦾 Two arm models — All design files for the B601-DM (Damiao) and B601-RS (Robstride), two arms sharing the same appearance.
- 🛠️ Hardware blueprints — Source files for sheet-metal and 3D-printed parts.
- 🔩 BOM list — Detailed down to the spec and purchase link of every single screw.
- 💻 Software & algorithms — Python SDK, ROS1/2, Isaac Sim, LeRobot, and more.
🛒 Get Your reBot Arm
| Model | Official Store | Other Channels | | :--- | :--- | :--- | | reBot Arm B601-DM | SeeedStudio Bazaar | Amazon · AliExpress | | reBot Arm B601-RS | SeeedStudio Bazaar | AliExpress |
B601-DM Kit Options
Five kit options are available at SeeedStudio.com:
- Arm Body Motor Kit — Motors and wiring harnesses only.
- Arm Body Structural Kit — Mechanical structural components only.
- Gripper Complete Kit — Motors, wiring, and structure for the gripper.
- Full Kit — Complete arm body and gripper.
- Pre-assembled Robotic Arm — Fully assembled, ready to use.
💡 The kit does not include a power adapter or C-clamps as standard, since you may power it with batteries or mount it on a custom DIY base. Purchase a power supply and power cord separately, or see the Mean Well solution at the bottom of the BOM.
B601-RS Kit Options
Two kit options are available at SeeedStudio.com:
- Full Kit — Unassembled complete arm body and gripper.
- Pre-assembled Robotic Arm — Fully assembled, ready to use.
💡 We recommend the Mean Well 48V 12.5A power supply for the RS model. For full performance, opt for a 48V 25A adapter.
Leader Arm (Optional)
Purchase the Leader Arm and a 12V 10A power supply; the 12V DC adapter of the SO-ARM101 also works.
🚀 Try the Online Simulation
Experience the reBot Arm B601-RS MuJoCo digital twin directly in your browser — no installation required. Switch between the standard arm and AGV configurations, control joints and TCP, view the overhead and D405 wrist cameras, and run the automated put-away and stacking demos. The initial model download may take a moment; Chrome or Edge is recommended.
▶ Launch the reBot Arm Interactive Demo
🗺️ Roadmap and Status
We continuously maintain and adapt to mainstream robot development ecosystems. Below is our current progress and release plan.
reBot Arm B601-DM
| Ecosystem | Status | Description | Documentation | | :--- | :---: | :--- | :--- | | Basic Motor Usage | ✅ Done | Motion control and API encapsulation | Damiao Technology | | STEP 3D Parts & BOM | ✅ Done | STEP files, parts BOM, and reference prices | reBot Arm B601-DM BOM | | Real-Machine Performance Testing | ✅ Done | Performance under normal and extreme conditions | Performance Testing | | Assembly Video | ✅ Done | Ultra-detailed assembly steps and video | Getting Started | | Python SDK | ✅ Done | One-stop motor read/write & control (Robstride, Damiao, Mota, Gaoqing, Hexfellow…) | Motorbridge · Web UI | | ROS2 Integration | ✅ Done | Kinematics, trajectory planning, gravity compensation | ROS2 Guide | | Pinocchio Integration | ✅ Done | Forward/inverse kinematics and gravity compensation | Pinocchio Guide · Repo | | Isaac Sim Simulation | ✅ Done | USD models and simulated teleoperation | Wiki | | VR Teleoperation | ✅ Done | PICO 4 VR-based bilateral teleoperation | Repo | | LeRobot Integration | ✅ Done | Hugging Face LeRobot training framework | LeRobot Guide | | Depth Camera Integration | ✅ Done | YOLO + depth camera visual grasping demo | Grasping Demo | | reSpeaker Voice Integration | ✅ Done | reSpeaker Flex 4-mic array, voice-driven control with spatial awareness | Voice Control | | Latest Algorithms | ⏳ Planned | Mainstream algorithms updated progressively | Ongoing | | Free Course Series | ⏳ Planned | A series of completely free courses | Ongoing |
Community Contributions
| Ecosystem | Author | Description | Repository |
| :--- | :---: | :--- | :--- |
| ROS2 (Humble), third-party integration, URDF / rebotarm_bringup | @danieldoradotalaveron-rb | 1. Passive diagnostics monitor (rebotarm_monitor_ros2) — /diagnostics overlay for rqt_robot_monitor, serial/CAN-aware aggregator;
2. Safe park & shutdown — capture rest pose on connect, slow return on shutdown or /rebotarm/park;
3. Gravity compensation (smooth stop) — MIT ramp-out to eliminate clack and jerk during pos/vel handoff;
4. Gamepad teleop with IK/FK & safety — end-effector control via IK, live RViz visualization (simulation-only test);
5. D405 eye-in-hand TF — Xacro under end_link for RViz visualization & TF only. | rebotarm_monitor_ros2 · reBotArmController_ROS2 |
reBot Arm B601-RS
| Ecosystem | Status | Description | Documentation | | :--- | :---: | :--- | :--- | | Basic Motor Usage | ✅ Done | Motion control and API encapsulation | Robstride | | STEP 3D Parts & BOM | ✅ Done | STEP files, parts BOM, and reference prices | reBot Arm B601-RS BOM | | Getting Started | ✅ Done | Quick start for the B601-RS | Getting Started | | Assembly Video | ✅ Done | Ultra-detailed assembly steps and video | Assembly Video | | ROS2 (Humble) | ✅ Done | Kinematics, trajectory planning, gravity compensation, MoveIt2 | ROS2 Guide | | LeRobot Integration | ✅ Done | Hugging Face LeRobot training framework | LeRobot Guide | | Pinocchio Integration | ✅ Done | Forward/inverse kinematics and gravity compensation | Pinocchio Guide · Repo | | Depth Camera Integration | ✅ Done | YOLO + depth camera visual grasping demo | Grasping Demo | | Embodied Agent Architecture | ✅ Done | Accepts natural-language commands (e.g. "pick up the red block"), auto-plans and executes grasping | Design · Source | | Isaac Sim Simulation | ✅ Done | USD models and simulated teleoperation | DLI Course · Repo | | Latest Algorithms | ⏳ Planned | Mainstream algorithms updated progressively | Ongoing | | Free Course Series | ⏳ Planned | A series of completely free courses | Ongoing |
Community Contributions
| Ecosystem | Author | Description | Repository | | :--- | :---: | :--- | :--- | | iPhone, HEBI Mobile I/O and Meta Quest teleoperation | @ammarjmahmood | Move a phone or a Quest controller and the gripper follows, using the relative pose mapping from TidyBot++ (CoRL 2024): native SwiftUI and ARKit iPhone app, HEBI Mobile I/O, WebXR passthrough on Quest, a 200 Hz MIT driver with gravity feedforward, IK on the official RS URDF and safety interlocks. Tested on a B601-RS with an iPhone 16 Pro Max. | rebot-phone-teleop |
⚙️ Hardware Specifications
Designed for desktop Embodied AI applications, balancing payload and flexibility.
| Parameter | reBot Arm B601-DM | reBot Arm B601-RS | | :--- | :--- | :--- | | Payload | 1.5 kg | 2.5 kg | | Recommended Workspace | 70% of arm reach | 70% of arm reach | | Max Reach | 767 mm | 754 mm | | Weight | ≈ 4.5 kg | ≈ 6.7 kg | | Repeatability | < 0.2 mm | < 0.2 mm | | Degrees of Freedom | 6 DOF + 1 Gripper | 6 DOF + 1 Gripper | | Supported Ecosystems | ROS1, ROS2, LeRobot, Pinocchio, Isaac Sim, Python SDK | ROS1, ROS2, LeRobot, Pinocchio, Isaac Sim, Python SDK | | Supply Voltage | DC 24V | DC 48V |
🌟 Community Showcase
| | | | | |
| :---: | :---: | :---: | :---: | :---: |
| 
GEM-4 | 
Linyan Fu · Apheth D Almeida | 
Dhruv Diddi | 
Ed Henderson | 
Sameer |
| 
Binh Pham | 
FangTianChongHui | 
Xense YaoLin Dong | 
Ed Henderson | 
yoshikai_man |
| 
hei-rebot-lift | 
Martin Kemka | 
Kamil Buczyński | 
Daniel Dorado | 
Asier |
| 
H | 
alpha_rover | 
Dilum Sanjaya | 
Binh | 
LeRobot |
| 
Raghav Kumar | 
Kamil Buczyński | 
Fictionlab | 
box2bridge | 
FangTianChongHui |
Seeed reBot Arm × NVIDIA Isaac — Sim-to-Real VLA Course
🧹 Optional Hardware
Wrist Camera Mount
These wrist camera mounts are shared by B601-RS and B601-DM. See the complete camera mount and data collection catalog for all models, previews, and downloads.
| 32×32 UVC | Intel D435i | Intel D405 & Gemini 305 | Gemini 2 |
| :--- | :--- | :--- | :--- |
| 
| 
| 
| 
|
| STEP | STEP | STEP · design notes | STEP |
The previews show UVC32, D435i, D405 and Gemini 2 assemblies on B601-RS; the mounts are shared with B601-DM. URDFs and assembly instructions. UVC32 uses the official bracket CAD with a schematic camera board.
Leader Arm Compatibility
| Star Arm 102-LD | Open to compatibility integration |
| :--- | :--- |
| 
| Series Hub · GitHub repo |
DIY Soft Finger
| Soft Finger | Open to compatibility integration |
| :--- | :--- |
| 
| Coming soon |
| Finger Mount (ABS/PLA) · Finger (TPU 95+) | Coming soon |
Recommended Optional Hardware
| Category | Type | Preview | Product | Link |
| :--- | :--- | :--- | :--- | :--- |
| Camera | Depth Camera | 
| Orbbec Gemini 2 3D Camera | Seeed Studio |
| Camera | Depth Camera | 
| Orbbec Gemini 336 Depth Camera | Seeed Studio |
| Camera | Depth Camera | 
| Orbbec Gemini 335LG 3D Camera | Seeed Studio |
| Camera | Depth Camera | 
| SLAMTEC Aurora S | Seeed Studio |
| Camera | Depth Camera | 
| Intel RealSense Depth Camera D435i | Seeed Studio |
| Camera | Depth Camera | 
| RealSense Depth Camera D405 | Seeed Studio |
| Camera | Monocular Camera | 
| Sensing SG3S-ISX031C-GMSL2F 3MP GMSL2 Camera | Seeed Studio |
| Camera | Monocular Camera | 
| ET-S231 Megapixel 120° Wide-Angle 1080P USB Camera | Seeed Studio |
| Microphone | Mic Array | 
| reSpeaker Flex XVF3800 Circular-4 with XIAO ESP32S3 | Seeed Studio |
| Microphone | Mic Array | 
| reSpeaker XMOS XVF3800 | Seeed Studio |
| Controller | Edge Controller | 
| reComputer J3011-Orin Nano 8GB | Seeed Studio |
| Controller | Edge Controller | 
| NVIDIA Jetson AGX Thor Developer Kit | Seeed Studio |
🎓 Full-Stack Robotics Ecosystem
reBot-DevArm is not just a robotic arm — it is a robotics learning community. The following general tutorials are shared for free:
🖥️ Edge Computing & Master Control
📡 Sensors & Peripherals- Motors & Servos — Damiao / Gogo / Robstride / Mita / Feite / Fashion Star
- Visual Perception — Depth cameras / LiDAR / vision algorithms
- Voice Interaction — reSpeaker mic arrays / voice control / spatial awareness (DoA)
- Motion & Attitude — IMU (6/9-axis) / gyroscopes / magnetometers
- Comprehensive Kits — more robotics sensors & driver examples
👉 Enter the Wiki Knowledge Base — all tutorials are free to view.
🙌 Acknowledgments and Contributors
The path of open source is never lonely. The reBot-DevArm project would not exist without the support of Seeed Studio, the global open-source community, and our hardware partners.
🌍 Ecosystem & Software Support
- Seeed Studio — hardware supply chain and technical support
- Hugging Face LeRobot — end-to-end robot learning framework
- NVIDIA Isaac Sim — robot simulation and synthetic data platform
- SeeedStudio AI Robotics Team — Yaohui Zhu ([email protected])
- SeeedStudio STU — Wentao Dong
- SeeedStudio STU — Weiwei Xu
- SeeedStudio Purchasing Department — Fengqun Peng
Coming soon — welcome to submit PRs and become a contributor!
⭐ Star History
📄 License
- Hardware Design © 2026 Seeed Studio Co., Ltd. — open sourced under CERN-OHL-W-2.0
- Firmware Code © 2026 Seeed Studio Co., Ltd. — open sourced under Apache-2.0
Rights and Restrictions
The reBot Arm project has always followed the core philosophy of agility, openness, responsibility, and symbiosis to serve the developer community. Our vision is to let every enthusiast master the hardware architecture and software principles of robotic arms, and experience cutting-edge embodied-intelligence algorithms through reBot.
For the first five months after launch, the project used the CC BY-SA NC (Non-Commercial) license, so developers could focus on iterating and improving the product during its early phase. After months of polishing, effective May 11, 2026, the project transitioned to the CERN-OHL-W 2.0 open-source license, achieving 100% full-stack open source (hardware and software) with full commercial-compliance and usage rights for all scenarios.
Hardware and software use different licenses — please confirm the terms applicable to the part you use.
| Item | Hardware (CERN-OHL-W-2.0) | Software SDK (Apache-2.0) | | :--- | :--- | :--- | | ✅ Commercial Use | ✅ Allowed | ✅ Allowed | | ✅ Modification | ✅ Allowed | ✅ Allowed | | ✅ Redistribution | ✅ Allowed | ✅ Allowed | | ✅ Closed-source Integration | ❌ Conditional (see CERN-OHL-W-2.0) | ✅ Allowed (no disclosure required) | | ⚠️ Copyright Retention | ✅ Required | ✅ Required | | ⚠️ License Text Retention | ✅ Required | ✅ Required | | ⚠️ Modification Notice | ✅ Required (date + description) | ✅ Required (description) | | ⚠️ Patent Grant | ✅ Explicit | ✅ Explicit | | ⚠️ Source Provision on Distribution | ✅ Must provide "Complete Source" | ❌ Not required | | ⚠️ External/Closed Module Compatibility | ✅ Allowed (Weakly Reciprocal) | ✅ Fully allowed | | 🔗 Relation to Other Components | Independent interface modules (External Material) may stay closed | No restrictions | | 📄 Official Full Text | CERN-OHL-W-2.0 | Apache-2.0 |
☎ Contact Us
- Open-Source Progress & Technical Support — Yaohui: [email protected]
- Future Collaboration & Customization — Elaine: [email protected]