Add reBot DevArm leader arm plugin (Damiao dm-serial backend)

CMakeLists.txt

@@ -183,6 +183,7 @@ if(BUILD_PLUGINS)
     add_subdirectory(src/plugins/controller_synthetic_hands)
     add_subdirectory(src/plugins/generic_3axis_pedal)
     add_subdirectory(src/plugins/so101_leader)
+    add_subdirectory(src/plugins/rebot_devarm_leader)
     add_subdirectory(src/plugins/manus)
     add_subdirectory(src/plugins/haptikos)
     if(BUILD_PLUGIN_OAK_CAMERA)

src/plugins/rebot_devarm_leader/CMakeLists.txt

@@ -0,0 +1,18 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+add_executable(rebot_devarm_leader_plugin
+    main.cpp
+    rebot_devarm_leader_plugin.cpp
+    damiao_bus.cpp
+    robstride_bus.cpp
+)
+
+target_link_libraries(rebot_devarm_leader_plugin PRIVATE
+    pusherio::pusherio
+    oxr::oxr_core
+    isaacteleop_schema
+)
+
+install(TARGETS rebot_devarm_leader_plugin RUNTIME DESTINATION plugins/rebot_devarm_leader)
+install(FILES plugin.yaml README.md DESTINATION plugins/rebot_devarm_leader)

src/plugins/rebot_devarm_leader/README.md

@@ -0,0 +1,132 @@
+<!--
+SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+SPDX-License-Identifier: Apache-2.0
+-->
+
+# reBot DevArm Leader Arm plugin
+
+Streams the [Seeed reBot DevArm](https://github.com/Seeed-Projects/reBot-DevArm) (6-DOF arm +
+gripper) leader joint angles as a `JointStateOutput` FlatBuffer over the OpenXR tensor transport,
+using the generic **joint-space device** path
+(`JointStateTracker` / `JointStateSource` / `JointStateRetargeter`).
+
+Two motor builds of the arm are supported, selected by the shape of the device argument — a
+serial path (`/dev/ttyACM0`) picks the **Damiao** backend, a bare SocketCAN interface name
+(`can0`) picks the **RobStride** backend:
+
+- **Damiao build**: 7 DM-series MIT-protocol motors — DM4340P on joints 1–3, DM4310 on joints
+  4–6 and the gripper — on a CAN bus behind a Damiao USB-to-CAN serial adapter (USB CDC-ACM, the
+  `dm-serial` transport also used by the vendor's DM_Control stack and the
+  [reBotArm_control_py](https://github.com/Seeed-Projects/reBotArm_control_py) reference code).
+  `DamiaoBus` (`damiao_bus.{hpp,cpp}`) speaks the adapter's fixed-size binary framing directly —
+  no SDK dependency — and implements just what a *leader* needs: send the **disable** control
+  frame so the arm can be back-driven by hand (Damiao motors keep answering feedback requests
+  while disabled), then request one feedback frame per motor per cycle (command `0xCC` addressed
+  via CAN id `0x7FF`) and decode position/velocity from the replies. Damiao feedback is
+  fixed-point over the model's `[-p_max, p_max]` / `[-v_max, v_max]` limits and lands directly
+  in radians — no tick conversion, only an optional per-joint sign and zero offset from a
+  calibration file.
+
+- **RobStride build**: 7 RS-series motors on classic CAN at 1 Mbps behind any SocketCAN
+  interface (e.g. a PCAN/candleLight USB adapter as `can0`). `RobStrideBus`
+  (`robstride_bus.{hpp,cpp}`) implements the leader subset of the RobStride private 29-bit
+  extended-id protocol directly — no SDK dependency: send the **stop** frame (comm type `0x04`)
+  for back-drive, then alternate single-parameter reads (comm type `0x11`) of `mechPos`
+  (`0x7019`) and `mechVel` (`0x701A`) per motor per cycle. Replies carry exact little-endian
+  IEEE f32 radians / rad/s, so the decode is **model-independent** — no fixed-point limit
+  tables — and each channel refreshes at 45 Hz with the plugin's 90 Hz loop, well under 20 % of
+  the 1 Mbps bus for 7 motors.
+
+When no device is given, the plugin falls back to a **synthetic** trajectory so the
+device → tracker → retargeter pipeline runs with no hardware (CI and headless bring-up).
+
+## Run
+
+```bash
+# Synthetic backend (no hardware):
+./install/plugins/rebot_devarm_leader/rebot_devarm_leader_plugin
+
+# Real reBot DevArm on the Damiao USB-to-CAN adapter (Linux), default collection id
+# "rebot_devarm_leader":
+./install/plugins/rebot_devarm_leader/rebot_devarm_leader_plugin /dev/ttyACM0
+
+# Real reBot DevArm (RobStride build) on a SocketCAN interface (Linux):
+sudo ip link set can0 up type can bitrate 1000000   # once, after plugging the CAN adapter
+./install/plugins/rebot_devarm_leader/rebot_devarm_leader_plugin can0
+
+# ... with a custom collection id and a calibration file:
+./install/plugins/rebot_devarm_leader/rebot_devarm_leader_plugin /dev/ttyACM0 rebot_devarm_leader rebot_devarm.calib
+```
+
+Args are positional: `[device_path] [collection_id] [calibration_file]`. A `device_path`
+containing `/` is a serial port (Damiao); a bare name is a SocketCAN interface (RobStride). The
+serial backend is Linux/macOS only (POSIX `termios`; the adapter enumerates as a CDC-ACM device,
+nominal 921600 bps); the SocketCAN backend is Linux only.
+
+## Probe the hardware (no OpenXR runtime)
+
+The `probe` subcommand opens the bus, sends disable (back-drive mode), and streams decoded joint
+positions to stdout — use it to verify wiring, motor ids, and the decode path before running the
+full plugin:
+
+```bash
+./install/plugins/rebot_devarm_leader/rebot_devarm_leader_plugin probe /dev/ttyACM0   # Damiao build
+./install/plugins/rebot_devarm_leader/rebot_devarm_leader_plugin probe can0           # RobStride build
+# probe:  joint1=0.0012  joint2=-0.0034  ...  gripper=0.0001
+```
+
+Exit code 0 means every motor replied at least once. Exit code 3 means every motor replied but
+the gripper reads outside its physical travel: the Damiao multi-turn counter is volatile across
+power cycles, so the gripper (whose geared travel exceeds one turn) can wake up reading
+`physical + 2*pi*k`. Re-home it (close against the mechanical stop and re-zero) before
+teleoperating — a wrapped reading would slam the follower's gripper into its soft-limit clip on
+the first frame. While wrapped, the running plugin streams the gripper joint with
+`valid = false` so consumers can hold it instead of executing garbage.
+
+## Calibration file
+
+Plain text, one joint per line (`#` comments allowed):
+
+```
+# name  motor_id  feedback_id  model  sign  offset_rad
+joint1  1  17  4340P   1  0.0
+joint2  2  18  4340P   1  0.0
+joint3  3  19  4340P   1  0.0
+joint4  4  20  4310    1  0.0
+joint5  5  21  4310    1  0.0
+joint6  6  22  4310    1  0.0
+gripper 7  23  4310    1  0.0
+```
+
+- `motor_id` / `feedback_id`: the motor's command (ESC) and feedback (MST) CAN ids, decimal.
+  Factory reBot DevArm ids are `1..7` / `0x11..0x17` (17..23) — the defaults, so a calibration
+  file is only needed for a sign flip, a zero offset, or a re-flashed id layout. On the
+  RobStride backend only `motor_id` (the RobStride device id, factory `1..7`) is used; replies
+  are matched by device id, so the `feedback_id` column is ignored.
+- `model`: Damiao model name (`4310`, `4310P`, `4340`, `4340P`) selecting the feedback
+  fixed-point limits. RobStride motors report exact f32 values, so `rs-*` names (e.g. `rs-00`)
+  are accepted and ignored.
+- `sign`: `-1` for any joint that moves opposite the URDF convention.
+- `offset_rad`: feedback position at the joint's URDF zero pose. With the vendor's zeroing
+  procedure (motors zeroed at the reference pose) this stays `0.0`.
+
+## Joint order and names
+
+The DOF order matches the `reBot-DevArm_fixend` URDF: `joint1 … joint6`, then `gripper` (the 7th
+Damiao motor). Downstream consumers read joints **by name** from the `JointStateOutput`, so wire
+order does not matter.
+
+## Consume in Python
+
+```python
+from isaacteleop.retargeting_engine.deviceio_source_nodes import JointStateSource
+
+source = JointStateSource(
+    name="leader",
+    collection_id="rebot_devarm_leader",
+    joint_names=["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "gripper"],
+)
+```
+
+Pair it with a `JointStateRetargeter` for joint-space or EE-space teleoperation, exactly like the
+SO-101 leader (`src/plugins/so101_leader`).