ビジョン頭脳一体型スマートロボットアーム — デプロイガイド

1. The camera is connected over USB (192.168.42.1) or is on the same network as this computer.
2. Login is recamera / recamera (recamera.2 on earlier firmware).
3. If the camera is still in factory Node-RED mode, the deployment offers to install the reCamera console first. Accept it; the app is installed right after.

1. Power off the arm supply and the camera.
2. Connect the arm's CAN wires to J2 on the B4 board: pin 5 CAN_H (red), pin 6 CAN_L (black).
3. Connect 12–24 V DC to J2 pins 1/2 and ground to pins 3/4; the camera and the arm supply share ground.
4. Power on, wait about one minute for the camera to boot, then click Deploy.

rebot-teleop is the active app. It runs armd (cockpit at http://<camera>:8765) and rebot-vision (video at ws://<camera>:8001/, YOLO and ArUco on request). The camera also starts a Wi-Fi hotspot reCamera-Arm-Teleop (default password 12345678, camera address 192.168.16.1) for phones. The arm stays without torque until you enable it in the cockpit.

The app includes the camera vision, so no other camera app is needed. Activating another app in the reCamera console stops rebot-teleop.

1. This computer has internet access. The step installs uv with its official installer if it is missing; uv downloads its own Python. git is not needed.
2. Enter the camera address the agent should use: 192.168.42.1 over USB, 192.168.16.1 on the arm's hotspot.

rebot-mcp is installed as a uv tool. The server runs on this computer and reaches the arm over the network; nothing extra is installed on the camera.

• Claude Code: if the claude CLI is installed, the server is registered for your user as rebot. Check with claude mcp list.
• Claude Desktop: copy the mcpServers entry printed at the end of the step log into claude_desktop_config.json (Claude Desktop: Settings → Developer → Edit Config), then restart Claude Desktop. Cursor, Windsurf and other clients that use mcpServers take the same entry.

Tools available to the agent (14): get_state, snapshot, snapshot_annotated, detect (pipelines yolo, aruco or both), move_to, move_relative, gripper, home, park, stop, e_stop, enable, take_control, release_control.

Safety defaults:

• The agent cannot clear an E-stop or a fault; a person clears it in the cockpit. clear_fault is listed only when the server starts with --allow-clear-fault.
• The agent cannot take control away from the cockpit. A forced takeover is available only with --allow-preempt.
• armd on the camera enforces the workspace box, speed caps and a lease watchdog that parks the arm when the controlling client stops responding.

Install by hand

Same commands as the rebot-companion README:

git clone https://github.com/Seeed-Solution/rebot-companion
cd rebot-companion
uv sync --extra agent
claude mcp add rebot -- uv run --directory /path/to/rebot-companion --extra agent rebot-mcp \
  --armd http://192.168.42.1:8765

For Claude Desktop, add to mcpServers:

{
  "mcpServers": {
    "rebot": {
      "command": "uv",
      "args": ["run", "--directory", "/path/to/rebot-companion", "--extra", "agent",
               "rebot-mcp", "--armd", "http://192.168.42.1:8765"]
    }
  }
}

The camera stream defaults to ws://192.168.42.1:8001/; add --camera-ws ws://<camera>:8001/ when the camera has another address.

Check teleop

1. Open http://<camera>:8765 on a phone, tablet or this computer.
2. The camera video is shown, and in expert mode the link status shows the CAN feedback and the joint table updates.
3. Press and hold the torque switch to enable the arm, then jog J1 a few degrees with the joysticks.

Hand-eye calibration (ArUco marker)

1. Print an ArUco marker from dictionary 4x4_50 (5 cm by default) and fix it flat on the table.
2. Open Hand-Eye Cal and set Camera mounting to Camera on gripper.
3. Move the arm so the marker is in view from different angles and capture poses: at least 5, 9 recommended. Keep only one marker in view.
4. Click Solve, check the reported RMSE, and click Export JSON. rebot-companion loads it with HandEyeCalibration.load_result.

Detection overlay

1. Turn on detection and choose YOLO, ArUco or both; boxes and markers appear on the video.
2. Tap-to-grasp is tested in simulation only; keep a hand on the E-stop if you try it.

Try the agent

Ask Claude: "Read the arm state, take a snapshot and tell me what the camera sees." Close the cockpit or release control first so the agent can take the lease for moves.