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refactor(robots): mixin for bi classes

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This commit is contained in:
Steven Palma
2026-06-11 15:54:52 +02:00
parent aa0d3e6608
commit b9c4dd3d12
8 changed files with 84 additions and 196 deletions
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src/lerobot/robots/bi_openarm_follower/bi_openarm_follower.py
+3 -28
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@@ -18,7 +18,8 @@ import logging
from functools import cached_property
from lerobot.types import RobotAction, RobotObservation
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from lerobot.utils.bimanual import BimanualMixin
from lerobot.utils.decorators import check_if_not_connected
from ..openarm_follower import OpenArmFollower, OpenArmFollowerConfig
from ..robot import Robot
@@ -27,7 +28,7 @@ from .config_bi_openarm_follower import BiOpenArmFollowerConfig
logger = logging.getLogger(__name__)
class BiOpenArmFollower(Robot):
class BiOpenArmFollower(BimanualMixin, Robot):
"""
Bimanual OpenArm Follower Arms
"""
@@ -119,27 +120,6 @@ class BiOpenArmFollower(Robot):
def action_features(self) -> dict[str, type]:
return self._motors_ft
@property
def is_connected(self) -> bool:
return self.left_arm.is_connected and self.right_arm.is_connected
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
self.left_arm.connect(calibrate)
self.right_arm.connect(calibrate)
@property
def is_calibrated(self) -> bool:
return self.left_arm.is_calibrated and self.right_arm.is_calibrated
def calibrate(self) -> None:
self.left_arm.calibrate()
self.right_arm.calibrate()
def configure(self) -> None:
self.left_arm.configure()
self.right_arm.configure()
def setup_motors(self) -> None:
raise NotImplementedError(
"Motor ID configuration is typically done via manufacturer tools for CAN motors."
@@ -183,8 +163,3 @@ class BiOpenArmFollower(Robot):
prefixed_sent_action_right = {f"right_{key}": value for key, value in sent_action_right.items()}
return {**prefixed_sent_action_left, **prefixed_sent_action_right}
@check_if_not_connected
def disconnect(self):
self.left_arm.disconnect()
self.right_arm.disconnect()
src/lerobot/robots/bi_rebot_b601_follower/bi_rebot_b601_follower.py
+3 -28
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@@ -18,7 +18,8 @@ import logging
from functools import cached_property
from lerobot.types import RobotAction, RobotObservation
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from lerobot.utils.bimanual import BimanualMixin
from lerobot.utils.decorators import check_if_not_connected
from ..rebot_b601_follower import RebotB601Follower, RebotB601FollowerRobotConfig
from ..robot import Robot
@@ -27,7 +28,7 @@ from .config_bi_rebot_b601_follower import BiRebotB601FollowerConfig
logger = logging.getLogger(__name__)
class BiRebotB601Follower(Robot):
class BiRebotB601Follower(BimanualMixin, Robot):
"""Bimanual Seeed Studio reBot B601-DM follower.
Composes two single-arm :class:`RebotB601Follower` instances. Observation and
@@ -113,27 +114,6 @@ class BiRebotB601Follower(Robot):
def action_features(self) -> dict[str, type]:
return self._motors_ft
@property
def is_connected(self) -> bool:
return self.left_arm.is_connected and self.right_arm.is_connected
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
self.left_arm.connect(calibrate)
self.right_arm.connect(calibrate)
@property
def is_calibrated(self) -> bool:
return self.left_arm.is_calibrated and self.right_arm.is_calibrated
def calibrate(self) -> None:
self.left_arm.calibrate()
self.right_arm.calibrate()
def configure(self) -> None:
self.left_arm.configure()
self.right_arm.configure()
@check_if_not_connected
def get_observation(self) -> RobotObservation:
obs_dict: RobotObservation = {}
@@ -159,8 +139,3 @@ class BiRebotB601Follower(Robot):
**{f"left_{k}": v for k, v in sent_action_left.items()},
**{f"right_{k}": v for k, v in sent_action_right.items()},
}
@check_if_not_connected
def disconnect(self) -> None:
self.left_arm.disconnect()
self.right_arm.disconnect()
src/lerobot/robots/bi_so_follower/bi_so_follower.py
+3 -28
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@@ -18,7 +18,8 @@ import logging
from functools import cached_property
from lerobot.types import RobotAction, RobotObservation
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from lerobot.utils.bimanual import BimanualMixin
from lerobot.utils.decorators import check_if_not_connected
from ..robot import Robot
from ..so_follower import SOFollower, SOFollowerRobotConfig
@@ -27,7 +28,7 @@ from .config_bi_so_follower import BiSOFollowerConfig
logger = logging.getLogger(__name__)
class BiSOFollower(Robot):
class BiSOFollower(BimanualMixin, Robot):
"""
[Bimanual SO Follower Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
"""
@@ -104,27 +105,6 @@ class BiSOFollower(Robot):
def action_features(self) -> dict[str, type]:
return self._motors_ft
@property
def is_connected(self) -> bool:
return self.left_arm.is_connected and self.right_arm.is_connected
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
self.left_arm.connect(calibrate)
self.right_arm.connect(calibrate)
@property
def is_calibrated(self) -> bool:
return self.left_arm.is_calibrated and self.right_arm.is_calibrated
def calibrate(self) -> None:
self.left_arm.calibrate()
self.right_arm.calibrate()
def configure(self) -> None:
self.left_arm.configure()
self.right_arm.configure()
def setup_motors(self) -> None:
self.left_arm.setup_motors()
self.right_arm.setup_motors()
@@ -162,8 +142,3 @@ class BiSOFollower(Robot):
prefixed_sent_action_right = {f"right_{key}": value for key, value in sent_action_right.items()}
return {**prefixed_sent_action_left, **prefixed_sent_action_right}
@check_if_not_connected
def disconnect(self):
self.left_arm.disconnect()
self.right_arm.disconnect()
src/lerobot/teleoperators/bi_openarm_leader/bi_openarm_leader.py
+3 -28
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@@ -18,7 +18,8 @@ import logging
from functools import cached_property
from lerobot.types import RobotAction
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from lerobot.utils.bimanual import BimanualMixin
from lerobot.utils.decorators import check_if_not_connected
from ..openarm_leader import OpenArmLeader, OpenArmLeaderConfig
from ..teleoperator import Teleoperator
@@ -27,7 +28,7 @@ from .config_bi_openarm_leader import BiOpenArmLeaderConfig
logger = logging.getLogger(__name__)
class BiOpenArmLeader(Teleoperator):
class BiOpenArmLeader(BimanualMixin, Teleoperator):
"""
Bimanual OpenArm Leader Arms
"""
@@ -86,27 +87,6 @@ class BiOpenArmLeader(Teleoperator):
def feedback_features(self) -> dict[str, type]:
return {}
@property
def is_connected(self) -> bool:
return self.left_arm.is_connected and self.right_arm.is_connected
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
self.left_arm.connect(calibrate)
self.right_arm.connect(calibrate)
@property
def is_calibrated(self) -> bool:
return self.left_arm.is_calibrated and self.right_arm.is_calibrated
def calibrate(self) -> None:
self.left_arm.calibrate()
self.right_arm.calibrate()
def configure(self) -> None:
self.left_arm.configure()
self.right_arm.configure()
def setup_motors(self) -> None:
raise NotImplementedError(
"Motor ID configuration is typically done via manufacturer tools for CAN motors."
@@ -129,8 +109,3 @@ class BiOpenArmLeader(Teleoperator):
def send_feedback(self, feedback: dict[str, float]) -> None:
# TODO: Implement force feedback
raise NotImplementedError
@check_if_not_connected
def disconnect(self) -> None:
self.left_arm.disconnect()
self.right_arm.disconnect()
src/lerobot/teleoperators/bi_openarm_mini/bi_openarm_mini.py
+3 -28
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@@ -18,7 +18,8 @@ import logging
from functools import cached_property
from lerobot.types import RobotAction
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from lerobot.utils.bimanual import BimanualMixin
from lerobot.utils.decorators import check_if_not_connected
from ..openarm_mini import OpenArmMini, OpenArmMiniConfig
from ..teleoperator import Teleoperator
@@ -27,7 +28,7 @@ from .config_bi_openarm_mini import BiOpenArmMiniConfig
logger = logging.getLogger(__name__)
class BiOpenArmMini(Teleoperator):
class BiOpenArmMini(BimanualMixin, Teleoperator):
"""Bimanual OpenArm Mini teleoperator.
Composes two single-arm :class:`OpenArmMini` instances. Action and feedback
@@ -77,27 +78,6 @@ class BiOpenArmMini(Teleoperator):
**{f"right_{k}": v for k, v in self.right_arm.feedback_features.items()},
}
@property
def is_connected(self) -> bool:
return self.left_arm.is_connected and self.right_arm.is_connected
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
self.left_arm.connect(calibrate)
self.right_arm.connect(calibrate)
@property
def is_calibrated(self) -> bool:
return self.left_arm.is_calibrated and self.right_arm.is_calibrated
def calibrate(self) -> None:
self.left_arm.calibrate()
self.right_arm.calibrate()
def configure(self) -> None:
self.left_arm.configure()
self.right_arm.configure()
def setup_motors(self) -> None:
self.left_arm.setup_motors()
self.right_arm.setup_motors()
@@ -119,8 +99,3 @@ class BiOpenArmMini(Teleoperator):
self.left_arm.send_feedback(left_fb)
if right_fb:
self.right_arm.send_feedback(right_fb)
@check_if_not_connected
def disconnect(self) -> None:
self.left_arm.disconnect()
self.right_arm.disconnect()
src/lerobot/teleoperators/bi_rebot_102_leader/bi_rebot_102_leader.py
+3 -28
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@@ -18,7 +18,8 @@ import logging
from functools import cached_property
from lerobot.types import RobotAction
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from lerobot.utils.bimanual import BimanualMixin
from lerobot.utils.decorators import check_if_not_connected
from ..rebot_102_leader import RebotArm102Leader, RebotArm102LeaderTeleopConfig
from ..teleoperator import Teleoperator
@@ -27,7 +28,7 @@ from .config_bi_rebot_102_leader import BiRebot102LeaderConfig
logger = logging.getLogger(__name__)
class BiRebot102Leader(Teleoperator):
class BiRebot102Leader(BimanualMixin, Teleoperator):
"""Bimanual Seeed Studio StarArm102 / reBot Arm 102 leader.
Composes two single-arm :class:`RebotArm102Leader` instances. Action keys of
@@ -76,27 +77,6 @@ class BiRebot102Leader(Teleoperator):
def feedback_features(self) -> dict[str, type]:
return {}
@property
def is_connected(self) -> bool:
return self.left_arm.is_connected and self.right_arm.is_connected
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
self.left_arm.connect(calibrate)
self.right_arm.connect(calibrate)
@property
def is_calibrated(self) -> bool:
return self.left_arm.is_calibrated and self.right_arm.is_calibrated
def calibrate(self) -> None:
self.left_arm.calibrate()
self.right_arm.calibrate()
def configure(self) -> None:
self.left_arm.configure()
self.right_arm.configure()
@check_if_not_connected
def get_action(self) -> RobotAction:
action_dict = {}
@@ -106,8 +86,3 @@ class BiRebot102Leader(Teleoperator):
def send_feedback(self, feedback: dict[str, float]) -> None:
raise NotImplementedError("Feedback is not implemented for the reBot Arm 102 leader.")
@check_if_not_connected
def disconnect(self) -> None:
self.left_arm.disconnect()
self.right_arm.disconnect()
src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py
+3 -28
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@@ -18,7 +18,8 @@ import logging
from functools import cached_property
from lerobot.types import RobotAction
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
from lerobot.utils.bimanual import BimanualMixin
from lerobot.utils.decorators import check_if_not_connected
from ..so_leader import SOLeader, SOLeaderTeleopConfig
from ..teleoperator import Teleoperator
@@ -27,7 +28,7 @@ from .config_bi_so_leader import BiSOLeaderConfig
logger = logging.getLogger(__name__)
class BiSOLeader(Teleoperator):
class BiSOLeader(BimanualMixin, Teleoperator):
"""
[Bimanual SO Leader Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
"""
@@ -68,27 +69,6 @@ class BiSOLeader(Teleoperator):
def feedback_features(self) -> dict[str, type]:
return {}
@property
def is_connected(self) -> bool:
return self.left_arm.is_connected and self.right_arm.is_connected
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
self.left_arm.connect(calibrate)
self.right_arm.connect(calibrate)
@property
def is_calibrated(self) -> bool:
return self.left_arm.is_calibrated and self.right_arm.is_calibrated
def calibrate(self) -> None:
self.left_arm.calibrate()
self.right_arm.calibrate()
def configure(self) -> None:
self.left_arm.configure()
self.right_arm.configure()
def setup_motors(self) -> None:
self.left_arm.setup_motors()
self.right_arm.setup_motors()
@@ -110,8 +90,3 @@ class BiSOLeader(Teleoperator):
def send_feedback(self, feedback: dict[str, float]) -> None:
# TODO: Implement force feedback
raise NotImplementedError
@check_if_not_connected
def disconnect(self) -> None:
self.left_arm.disconnect()
self.right_arm.disconnect()
src/lerobot/utils/bimanual.py
+63
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@@ -0,0 +1,63 @@
#!/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 typing import Any
from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
class BimanualMixin:
"""Lifecycle delegation for bimanual robots and teleoperators.
Concrete subclasses must populate ``self.left_arm`` and ``self.right_arm`` in
their own ``__init__``. They retain ownership of feature dicts and the
data-routing methods (``get_action`` / ``send_action`` / ``get_observation`` /
``send_feedback``), which vary per-embodiment.
Inherit before the ``Robot`` / ``Teleoperator`` base so the mixin's methods
take precedence in the MRO::
class BiFooFollower(BimanualMixin, Robot): ...
"""
left_arm: Any
right_arm: Any
@property
def is_connected(self) -> bool:
return self.left_arm.is_connected and self.right_arm.is_connected
@property
def is_calibrated(self) -> bool:
return self.left_arm.is_calibrated and self.right_arm.is_calibrated
@check_if_already_connected
def connect(self, calibrate: bool = True) -> None:
self.left_arm.connect(calibrate)
self.right_arm.connect(calibrate)
def calibrate(self) -> None:
self.left_arm.calibrate()
self.right_arm.calibrate()
def configure(self) -> None:
self.left_arm.configure()
self.right_arm.configure()
@check_if_not_connected
def disconnect(self) -> None:
self.left_arm.disconnect()
self.right_arm.disconnect()