feat(robots): natively integrate Seeed Studio reBot B601-DM arm (#3624)

* feat(robots): natively integrate Seeed Studio reBot B601-DM arm Add first-class LeRobot support for the Seeed Studio reBot arm, replacing the out-of-tree `lerobot-robot-seeed-b601` / `lerobot-teleoperator-rebot-arm-102` plugin packages. New devices: - robot `rebot_b601_follower` — single-arm B601-DM follower (6-DOF + gripper, Damiao CAN motors via `motorbridge`) - robot `bi_rebot_b601_follower` — bimanual follower composing two single arms - teleoperator `rebot_102_leader` — single-arm StarArm102 / reBot Arm 102 leader (FashionStar UART servos via `motorbridge-smart-servo`) - teleoperator `bi_rebot_102_leader` — bimanual leader composing two single arms The bimanual variants reuse the single-arm classes and namespace each arm's observation/action keys with `left_` / `right_` prefixes, so a bimanual StarArm102 leader can teleoperate a bimanual reBot B601 follower. Optional SDK imports are guarded; a `rebot` extra installs `motorbridge` and `motorbridge-smart-servo`. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> * docs: add reBot B601-DM calibration & dual-arm teleoperation guide Add docs/source/rebot_b601.mdx covering single-arm and bimanual calibration and teleoperation for the reBot B601-DM follower and reBot Arm 102 leader, with zero-position reference images from the Seeed Studio wiki. Register the page in the docs toctree. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> * docs: fix reBot B601 MDX build (move JSON example out of <Tip>) The doc-builder parses `{...}` inside MDX component children as a Svelte expression, so the joint_directions JSON example broke the build. Move it into a top-level fenced code block. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> * docs: apply prettier formatting to reBot B601 page Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> * docs: remove duplicate colocated reBot B601 page docs/source/rebot_b601.mdx is the canonical, toctree-registered page; the colocated rebot_b601.md was a redundant thinner copy. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> * docs: clarify 6-DOF leader fallback comment in reBot B601 follower Explain that holding wrist_yaw at zero is what lets a 6-DOF leader (e.g. so100_leader / so101_leader) teleoperate the 7-DOF follower. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> * refactor: address Caroline's PR review on reBot B601 integration - leader: remove _validate_config (no other lerobot device validates its config; a key mismatch now surfaces as a plain KeyError) - leader: simplify _round_to_valid_range to direct modular arithmetic instead of a bidirectional search loop - leader: inline the single-use _clamp helper - follower & leader: write MotorCalibration range_min/range_max from the configured joint_limits / joint_ranges instead of a fixed [-90, 90] - docs: add a "Find the USB ports" section (lerobot-find-port) and move the brltty/permissions tip there; link the OpenArm page for SocketCAN adapter configuration Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> --------- Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
2026-05-19 18:49:52 +00:00 · 2026-05-18 19:49:21 +02:00
parent 5ebbdf3d05
commit 3c15fd8537
28 changed files with 1581 additions and 3 deletions
@@ -0,0 +1,116 @@
+#!/usr/bin/env python
+
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import math
+from unittest.mock import MagicMock, patch
+
+import pytest
+
+from lerobot.robots.bi_rebot_b601_follower import BiRebotB601Follower, BiRebotB601FollowerConfig
+from lerobot.robots.rebot_b601_follower import (
+    RebotB601Follower,
+    RebotB601FollowerConfig,
+    RebotB601FollowerRobotConfig,
+)
+
+_MODULE = "lerobot.robots.rebot_b601_follower.rebot_b601_follower"
+
+
+def _make_motor_mock(position_rad: float = 0.0) -> MagicMock:
+    motor = MagicMock(name="MotorMock")
+    state = MagicMock()
+    state.pos = position_rad
+    motor.get_state.return_value = state
+    return motor
+
+
+def _make_bus_mock() -> MagicMock:
+    bus = MagicMock(name="MotorBridgeControllerMock")
+    # add_damiao_motor returns a fresh motor mock; position encodes the call order.
+    bus._motor_count = 0
+
+    def _add_motor(_send_id, _recv_id, _model):
+        bus._motor_count += 1
+        return _make_motor_mock(position_rad=math.radians(bus._motor_count))
+
+    bus.add_damiao_motor.side_effect = _add_motor
+    return bus
+
+
+@pytest.fixture
+def follower():
+    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")
+        robot = RebotB601Follower(cfg)
+        robot.connect(calibrate=False)
+        yield robot
+        if robot.is_connected:
+            robot.disconnect()
+
+
+def test_features_match_joints():
+    with patch(f"{_MODULE}.require_package", lambda *a, **kw: None):
+        robot = RebotB601Follower(RebotB601FollowerRobotConfig(port="/dev/null"))
+    expected = {f"{m}.pos" for m in robot.motor_names}
+    assert set(robot.action_features) == expected
+    assert set(robot.observation_features) == expected
+    assert "gripper.pos" in expected
+
+
+def test_connect_disconnect(follower):
+    assert follower.is_connected
+    follower.disconnect()
+    assert not follower.is_connected
+
+
+def test_get_observation_converts_to_degrees(follower):
+    obs = follower.get_observation()
+    assert set(obs) == {f"{m}.pos" for m in follower.motor_names}
+    # The bus mock seeds each motor's position with its 1-indexed creation order (radians).
+    for idx, motor in enumerate(follower.motor_names, 1):
+        assert obs[f"{motor}.pos"] == pytest.approx(math.degrees(math.radians(idx)))
+
+
+def test_send_action_clips_to_joint_limits(follower):
+    # shoulder_pan limit is (-145, 145); 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()
+
+
+def test_send_action_routes_gripper_to_force_pos(follower):
+    follower.send_action({"gripper.pos": -10.0})
+    follower.motors["gripper"].send_force_pos.assert_called_once()
+    follower.motors["gripper"].send_pos_vel.assert_not_called()
+
+
+def test_bimanual_prefixes_features():
+    with patch(f"{_MODULE}.require_package", lambda *a, **kw: None):
+        cfg = BiRebotB601FollowerConfig(
+            left_arm_config=RebotB601FollowerConfig(port="/dev/null0"),
+            right_arm_config=RebotB601FollowerConfig(port="/dev/null1"),
+        )
+        robot = BiRebotB601Follower(cfg)
+    assert any(k.startswith("left_") for k in robot.action_features)
+    assert any(k.startswith("right_") for k in robot.action_features)
+    assert "left_gripper.pos" in robot.action_features
+    assert "right_gripper.pos" in robot.action_features
@@ -0,0 +1,102 @@
+#!/usr/bin/env python
+
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from unittest.mock import MagicMock, patch
+
+import pytest
+
+from lerobot.teleoperators.bi_rebot_102_leader import BiRebotArm102Leader, BiRebotArm102LeaderConfig
+from lerobot.teleoperators.rebot_102_leader import (
+    RebotArm102Leader,
+    RebotArm102LeaderConfig,
+    RebotArm102LeaderTeleopConfig,
+)
+
+_MODULE = "lerobot.teleoperators.rebot_102_leader.rebot_102_leader"
+
+
+def _make_bus_mock(joint_ids: dict[str, int]) -> MagicMock:
+    bus = MagicMock(name="FashionStarServoMock")
+    bus.ping.return_value = True
+
+    def _sync_monitor(ids):
+        # Report each servo at 5 degrees raw.
+        monitors = {}
+        for servo_id in ids:
+            monitor = MagicMock()
+            monitor.angle_deg = 5.0
+            monitors[servo_id] = monitor
+        return monitors
+
+    bus.sync_monitor.side_effect = _sync_monitor
+    return bus
+
+
+@pytest.fixture
+def leader():
+    cfg = RebotArm102LeaderTeleopConfig(port="/dev/null")
+    bus_mock = _make_bus_mock(cfg.joint_ids)
+    with (
+        patch(f"{_MODULE}.require_package", lambda *a, **kw: None),
+        patch(f"{_MODULE}.FashionStarServo", return_value=bus_mock),
+    ):
+        teleop = RebotArm102Leader(cfg)
+        teleop.connect(calibrate=False)
+        yield teleop
+        if teleop.is_connected:
+            teleop.disconnect()
+
+
+def test_action_features_match_joints():
+    with patch(f"{_MODULE}.require_package", lambda *a, **kw: None):
+        teleop = RebotArm102Leader(RebotArm102LeaderTeleopConfig(port="/dev/null"))
+    assert set(teleop.action_features) == {f"{m}.pos" for m in teleop.motor_names}
+    assert teleop.feedback_features == {}
+
+
+def test_connect_disconnect(leader):
+    assert leader.is_connected
+    leader.disconnect()
+    assert not leader.is_connected
+
+
+def test_get_action_applies_direction_and_clamp(leader):
+    action = leader.get_action()
+    assert set(action) == {f"{m}.pos" for m in leader.motor_names}
+    # shoulder_pan has direction -1, so a +5deg raw reading flips to -5deg.
+    assert action["shoulder_pan.pos"] == pytest.approx(-5.0)
+    # Every joint stays within its configured range.
+    for motor, value in action.items():
+        lo, hi = leader.config.joint_ranges[motor.removesuffix(".pos")]
+        assert lo <= value <= hi
+
+
+def test_send_feedback_not_implemented(leader):
+    with pytest.raises(NotImplementedError):
+        leader.send_feedback({})
+
+
+def test_bimanual_prefixes_features():
+    with patch(f"{_MODULE}.require_package", lambda *a, **kw: None):
+        cfg = BiRebotArm102LeaderConfig(
+            left_arm_config=RebotArm102LeaderConfig(port="/dev/null0"),
+            right_arm_config=RebotArm102LeaderConfig(port="/dev/null1"),
+        )
+        teleop = BiRebotArm102Leader(cfg)
+    assert any(k.startswith("left_") for k in teleop.action_features)
+    assert any(k.startswith("right_") for k in teleop.action_features)
+    assert "left_gripper.pos" in teleop.action_features
+    assert "right_gripper.pos" in teleop.action_features