mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-18 10:10:08 +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>
110 lines
3.8 KiB
Python
110 lines
3.8 KiB
Python
#!/usr/bin/env python
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# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from unittest.mock import MagicMock, patch
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import pytest
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from lerobot.teleoperators.bi_rebot_102_leader import BiRebotArm102Leader, BiRebotArm102LeaderConfig
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from lerobot.teleoperators.rebot_102_leader import (
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RebotArm102Leader,
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RebotArm102LeaderConfig,
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RebotArm102LeaderTeleopConfig,
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)
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_MODULE = "lerobot.teleoperators.rebot_102_leader.rebot_102_leader"
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def _make_bus_mock(joint_ids: dict[str, int]) -> MagicMock:
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bus = MagicMock(name="FashionStarServoMock")
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bus.ping.return_value = True
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def _sync_monitor(ids):
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# Report each servo at 5 degrees raw.
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monitors = {}
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for servo_id in ids:
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monitor = MagicMock()
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monitor.angle_deg = 5.0
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monitors[servo_id] = monitor
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return monitors
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bus.sync_monitor.side_effect = _sync_monitor
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return bus
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@pytest.fixture
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def leader():
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cfg = RebotArm102LeaderTeleopConfig(port="/dev/null")
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bus_mock = _make_bus_mock(cfg.joint_ids)
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with (
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patch(f"{_MODULE}.require_package", lambda *a, **kw: None),
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patch(f"{_MODULE}.FashionStarServo", return_value=bus_mock),
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):
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teleop = RebotArm102Leader(cfg)
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teleop.connect(calibrate=False)
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yield teleop
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if teleop.is_connected:
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teleop.disconnect()
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def test_action_features_match_joints():
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with patch(f"{_MODULE}.require_package", lambda *a, **kw: None):
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teleop = RebotArm102Leader(RebotArm102LeaderTeleopConfig(port="/dev/null"))
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assert set(teleop.action_features) == {f"{m}.pos" for m in teleop.motor_names}
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assert teleop.feedback_features == {}
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def test_invalid_config_rejected():
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with patch(f"{_MODULE}.require_package", lambda *a, **kw: None):
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bad = RebotArm102LeaderTeleopConfig(port="/dev/null", joint_directions={"shoulder_pan": 1})
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with pytest.raises(ValueError, match="joint_directions"):
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RebotArm102Leader(bad)
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def test_connect_disconnect(leader):
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assert leader.is_connected
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leader.disconnect()
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assert not leader.is_connected
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def test_get_action_applies_direction_and_clamp(leader):
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action = leader.get_action()
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assert set(action) == {f"{m}.pos" for m in leader.motor_names}
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# shoulder_pan has direction -1, so a +5deg raw reading flips to -5deg.
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assert action["shoulder_pan.pos"] == pytest.approx(-5.0)
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# Every joint stays within its configured range.
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for motor, value in action.items():
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lo, hi = leader.config.joint_ranges[motor.removesuffix(".pos")]
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assert lo <= value <= hi
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def test_send_feedback_not_implemented(leader):
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with pytest.raises(NotImplementedError):
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leader.send_feedback({})
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def test_bimanual_prefixes_features():
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with patch(f"{_MODULE}.require_package", lambda *a, **kw: None):
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cfg = BiRebotArm102LeaderConfig(
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left_arm_config=RebotArm102LeaderConfig(port="/dev/null0"),
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right_arm_config=RebotArm102LeaderConfig(port="/dev/null1"),
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)
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teleop = BiRebotArm102Leader(cfg)
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assert any(k.startswith("left_") for k in teleop.action_features)
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assert any(k.startswith("right_") for k in teleop.action_features)
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assert "left_gripper.pos" in teleop.action_features
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assert "right_gripper.pos" in teleop.action_features
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