From 8e11cca900f56fdc1573f4bdf444fd3aaab22963 Mon Sep 17 00:00:00 2001 From: xiayipeng Date: Tue, 20 Oct 2026 16:44:40 +0800 Subject: [PATCH] docs: add reBot Arm HMI to RS community contributions --- README.md | 1 + README_zh.md | 1 + 2 files changed, 2 insertions(+) diff --git a/README.md b/README.md index 641d95a..4886047 100644 --- a/README.md +++ b/README.md @@ -144,6 +144,7 @@ We continuously maintain and adapt to mainstream robot development ecosystems. B | Ecosystem | Author | Description | Repository | | :--- | :---: | :--- | :--- | | iPhone, HEBI Mobile I/O and Meta Quest teleoperation | [@ammarjmahmood](https://github.com/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](https://github.com/ammarjmahmood/rebot-phone-teleop) | +| Handheld HMI, Zephyr RTOS / CAN / ROS 2 | [@xiayip](https://github.com/xiayip) | A handheld terminal for reBot Arm RS with live joint telemetry, encoder-based position control, damping/impedance modes, hand-guided trajectory recording and replay, persistent Flash storage, and ROS 2 controller-switch requests. | [reBot_Arm_HMI](https://github.com/xiayip/reBot_Arm_HMI) · [Video demo](https://www.bilibili.com/video/BV1MNnw6gEEe/) | ## ⚙️ Hardware Specifications diff --git a/README_zh.md b/README_zh.md index c071945..8f56ca9 100644 --- a/README_zh.md +++ b/README_zh.md @@ -138,6 +138,7 @@ RS 版本提供两种套件方案： | 对应生态 | 作者 | 说明 | 仓库 | | :--- | :---: | :--- | :--- | | iPhone、HEBI Mobile I/O 与 Meta Quest 遥操作 | [@ammarjmahmood](https://github.com/ammarjmahmood) | 移动手机或 Quest 手柄，夹爪随之运动，采用 TidyBot++（CoRL 2024）的相对位姿映射：原生 SwiftUI 与 ARKit iPhone 应用、HEBI Mobile I/O、Quest WebXR 透视模式，200 Hz MIT 驱动、重力前馈、基于官方 RS URDF 的逆运动学与安全联锁。已在 B601-RS 与 iPhone 16 Pro Max 上测试。 | [rebot-phone-teleop](https://github.com/ammarjmahmood/rebot-phone-teleop) | +| 掌上交互终端，Zephyr RTOS / CAN / ROS 2 | [@xiayip](https://github.com/xiayip) | 面向 reBot Arm RS 的掌上交互终端，支持关节实时监测、编码器位置控制、阻尼/阻抗模式、拖动示教与轨迹回放、Flash 持久化保存，以及 ROS 2 控制器切换请求。 | [reBot_Arm_HMI](https://github.com/xiayip/reBot_Arm_HMI) · [实机演示](https://www.bilibili.com/video/BV1MNnw6gEEe/) | ## ⚙️ 硬件参数