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refactor(robots): homogenize bi-manual setups implementations (#3772)

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* chore(robots): homogenize bi setups

* feat(robots): split openarm mini into single and bi

* refactor(robots): mixin for bi classes

* docs: update docs
This commit is contained in:
Steven Palma
2026-06-15 16:28:54 +02:00
committed by GitHub
parent 8515d456be
commit d576c59afb
29 changed files with 456 additions and 427 deletions
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tests/teleoperators/test_rebot_102_leader.py
+3 -3
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@@ -18,7 +18,7 @@ from unittest.mock import MagicMock, patch
import pytest
from lerobot.teleoperators.bi_rebot_102_leader import BiRebotArm102Leader, BiRebotArm102LeaderConfig
from lerobot.teleoperators.bi_rebot_102_leader import BiRebot102Leader, BiRebot102LeaderConfig
from lerobot.teleoperators.rebot_102_leader import (
RebotArm102Leader,
RebotArm102LeaderConfig,
@@ -91,11 +91,11 @@ def test_send_feedback_not_implemented(leader):
def test_bimanual_prefixes_features():
with patch(f"{_MODULE}.require_package", lambda *a, **kw: None):
cfg = BiRebotArm102LeaderConfig(
cfg = BiRebot102LeaderConfig(
left_arm_config=RebotArm102LeaderConfig(port="/dev/null0"),
right_arm_config=RebotArm102LeaderConfig(port="/dev/null1"),
)
teleop = BiRebotArm102Leader(cfg)
teleop = BiRebot102Leader(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