refactor(robots): mixin for bi classes

src/lerobot/robots/bi_openarm_follower/bi_openarm_follower.py

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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()