mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-19 10:40:04 +00:00
Pepijn
462a8aea90
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>
117 lines
4.2 KiB
Python
117 lines
4.2 KiB
Python
#!/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
|