admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-07-23 01:41:54 +00:00
Code Issues Packages Projects Releases Wiki Activity

Feat(robot): add MIT control mode to ReBot (#3778)

Browse Source 
* fix(config): update joint limits for RebotB601Follower and RebotArm102Leader

* feat(config): add MIT control mode ReBot

- Add configurable arm control mode (mit default, pos_vel fallback) with tunable mit_kp / mit_kd
- Add optional gripper control mode (force_pos default, mit optional) with gripper_mit_kp / gripper_mit_kd
- Update tests for MIT arm routing, gripper mode routing, and revised joint limits

* fix(robots): restore joint clipping and wrist_yaw fallback in ReBot B601 send_action

* feat(robot): increase gripper velocity and torque for rebot arm
This commit is contained in:
Khalil Meftah
2026-06-30 17:17:50 +02:00
committed by GitHub
parent 2f2b567951
commit 0da98afd63
5 changed files with 92 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tests/robots/test_rebot_b601_follower.py
+20 -3
View File
@@ -91,10 +91,11 @@ def test_get_observation_converts_to_degrees(follower):
def test_send_action_clips_to_joint_limits(follower):
# shoulder_pan limit is (-145, 145); request beyond the upper bound.
# shoulder_pan limit is (-150, 150); request beyond the upper bound.
returned = follower.send_action({"shoulder_pan.pos": 999.0})
assert returned["shoulder_pan.pos"] == 145.0
follower.motors["shoulder_pan"].send_pos_vel.assert_called_once()
assert returned["shoulder_pan.pos"] == 150.0
# Default control_mode is "mit", so arm joints are driven via send_mit.
follower.motors["shoulder_pan"].send_mit.assert_called_once()
def test_send_action_routes_gripper_to_force_pos(follower):
@@ -103,6 +104,22 @@ def test_send_action_routes_gripper_to_force_pos(follower):
follower.motors["gripper"].send_pos_vel.assert_not_called()
def test_gripper_mit_mode_routes_to_send_mit():
bus_mock = _make_bus_mock()
with (
patch(f"{_MODULE}.require_package", lambda *a, **kw: None),
patch(f"{_MODULE}.MotorBridgeController") as controller_cls,
patch(f"{_MODULE}.MotorBridgeMode", MagicMock()),
):
controller_cls.from_dm_serial.return_value = bus_mock
cfg = RebotB601FollowerRobotConfig(port="/dev/null", gripper_control_mode="mit")
robot = RebotB601Follower(cfg)
robot.connect(calibrate=False)
robot.send_action({"gripper.pos": -10.0})
robot.motors["gripper"].send_mit.assert_called_once()
robot.motors["gripper"].send_force_pos.assert_not_called()
def test_bimanual_prefixes_features():
with patch(f"{_MODULE}.require_package", lambda *a, **kw: None):
cfg = BiRebotB601FollowerConfig(