Lerobot integration bounty #1037

sanjaypokkali · 2026-01-16T03:11:04Z

lerobot hardware module

greptile-apps · 2026-01-16T03:21:35Z

Greptile Summary

Integrates SO101 robotic arm with LeRobot framework by adding comprehensive driver implementation, URDF models with two calibration variants, and complete 3D asset pipeline including OnShape CAD metadata and STL mesh files
Adds LeRobot dependencies to pyproject.toml manipulation extras to support FeetechMotors hardware integration and kinematics capabilities required for SO101 arm control
Creates kinematics wrapper that bridges LeRobot conventions with existing codebase patterns, implementing forward/inverse kinematics, Jacobian computation, and 5-DOF orientation constraints for the manipulator

Important Files Changed

Filename	Overview
dimos/hardware/manipulators/so101/so101_wrapper.py	New comprehensive SDK wrapper for SO101 arm using LeRobot's FeetechMotorsBus; requires review of hard-coded calibration values and error handling
dimos/hardware/manipulators/so101/so101_driver.py	New driver implementation with velocity-to-position control conversion; SDK initialization doesn't pass configuration parameters
dimos/hardware/manipulators/so101/lerobot_kinematics.py	New kinematics integration with LeRobot framework; numerical Jacobian approach and quaternion conversions need validation
dimos/hardware/manipulators/so101/urdf/assets/*.stl	Multiple empty STL mesh files that will cause critical failures in robot visualization and collision detection

Confidence score: 2/5

This PR requires careful review due to multiple empty STL files that will break robot visualization and simulation systems
Score reflects significant issues with asset files, hard-coded calibration values, missing error handling, and incomplete SDK integration that could cause runtime failures
Pay close attention to all STL files in the assets directory and the wrapper/driver implementation files for proper configuration handling

Sequence Diagram

sequenceDiagram
    participant User
    participant SO101Driver
    participant BaseManipulatorDriver
    participant SDK as SO101SDKWrapper
    participant FeetechBus as FeetechMotorsBus
    participant LerobotKin as LerobotKinematics
    participant Motors as STS3215Motors

    User->>SO101Driver: "set_joint_positions(positions)"
    SO101Driver->>BaseManipulatorDriver: "_process_command(position_cmd)"
    BaseManipulatorDriver->>SDK: "set_joint_positions(positions)"
    SDK->>SDK: "apply joint offsets"
    SDK->>SDK: "convert radians to degrees"
    SDK->>FeetechBus: "sync_write('Goal_Position', cmd)"
    FeetechBus->>Motors: "send position commands"
    Motors-->>FeetechBus: "acknowledge"
    FeetechBus-->>SDK: "command sent"
    SDK-->>BaseManipulatorDriver: "success"
    BaseManipulatorDriver-->>SO101Driver: "command processed"
    SO101Driver-->>User: "movement initiated"

    loop "State Feedback (100Hz)"
        BaseManipulatorDriver->>SDK: "get_joint_positions()"
        SDK->>FeetechBus: "sync_read('Present_Position')"
        FeetechBus->>Motors: "read positions"
        Motors-->>FeetechBus: "return positions"
        FeetechBus-->>SDK: "joint positions"
        SDK->>SDK: "apply joint offsets"
        SDK-->>BaseManipulatorDriver: "joint positions"
        BaseManipulatorDriver->>BaseManipulatorDriver: "publish joint_state"
    end

    User->>SO101Driver: "set_cartesian_position(pose)"
    SO101Driver->>SDK: "set_cartesian_position(pose)"
    SDK->>LerobotKinematics: "ik(current_joints, target_pos, target_quat)"
    LerobotKinematics->>LerobotKinematics: "iterative jacobian-based IK"
    LerobotKinematics-->>SDK: "joint_solution"
    SDK->>SDK: "convert to degrees"
    SDK->>FeetechBus: "sync_write('Goal_Position', joint_cmd)"
    FeetechBus->>Motors: "send joint commands"
    Motors-->>SDK: "cartesian motion executed"
    SDK-->>SO101Driver: "success"
    SO101Driver-->>User: "cartesian movement complete"

greptile-apps

Additional Comments (1)

dimos/hardware/manipulators/so101/urdf/assets/motor_holder_so101_base_v1.stl, line 1 (link)

logic: STL file appears to be empty or corrupted - no binary mesh data is present. This will cause URDF loading failures when the robot model is instantiated.

_{43 files reviewed, 9 comments}

_{Edit Code Review Agent Settings | Greptile}

dimos/hardware/manipulators/so101/urdf/README.md

dimos/hardware/manipulators/so101/components/configuration.py

dimos/hardware/manipulators/so101/so101_driver.py

dimos/robot/lerobot/so101_arm.py

dimos/hardware/manipulators/so101/lerobot_kinematics.py

dimos/hardware/manipulators/so101/so101_wrapper.py

spomichter · 2026-01-16T07:13:56Z

@mustafab0

greptile-apps

Additional Comments (8)

dimos/hardware/manipulators/so101/urdf/assets/motor_holder_so101_wrist_v1.stl, line 1 (link)

logic: Empty STL file will cause robot visualization and collision detection failures. STL files must contain valid 3D mesh data for URDF parsing and physics simulation to work correctly.
dimos/hardware/manipulators/so101/urdf/assets/motor_holder_so101_base_v1.stl, line 1 (link)

logic: Empty STL file will cause robot visualization and collision detection failures. STL files must contain valid 3D mesh data for URDF models to function properly. Was this file supposed to contain 3D mesh data, or is there a separate process to generate it?
dimos/hardware/manipulators/so101/urdf/assets/base_motor_holder_so101_v1.stl, line 1 (link)

logic: Empty STL file will cause robot visualization and collision detection failures. STL files must contain binary mesh data for the base motor holder component.
dimos/hardware/manipulators/so101/urdf/assets/wrist_roll_pitch_so101_v2.stl, line 1 (link)

logic: Empty STL file will cause visualization and collision detection failures when robot model is loaded. STL files must contain valid mesh data with vertices and triangular faces.
dimos/hardware/manipulators/so101/urdf/assets/upper_arm_so101_v1.stl, line 1 (link)

logic: Empty STL file will break robot visualization and collision detection
dimos/hardware/manipulators/so101/urdf/assets/moving_jaw_so101_v1.stl, line 1 (link)

logic: Empty STL file will cause robot visualization and collision detection to fail completely. The gripper jaw geometry is essential for URDF loading and physics simulation.
dimos/hardware/manipulators/so101/urdf/assets/under_arm_so101_v1.stl, line 1 (link)

logic: Empty STL file will cause robot visualization and collision detection to fail. STL files must contain binary 3D mesh data for URDF models to render properly in RViz, Gazebo, or other robotics simulators.
dimos/hardware/manipulators/so101/urdf/assets/wrist_roll_follower_so101_v1.stl, line 1 (link)

logic: Empty STL file will cause robot visualization and simulation failures. STL files must contain valid 3D mesh data for URDF parsers and robotics frameworks to function properly.

_{35 files reviewed, 20 comments}

_{Edit Code Review Agent Settings | Greptile}

greptile-apps · 2026-01-16T14:07:55Z

dimos/hardware/manipulators/so101/so101_driver.py

+            if self._last_velocity_time > 0:
+                dt = current_time - self._last_velocity_time
+            else:
+                dt = 1.0 / self.control_rate  # Use nominal period for first command


logic: Control rate accessed without validation - could cause division by zero if not set

greptile-apps · 2026-01-16T14:07:56Z

dimos/hardware/manipulators/so101/urdf/so101_new_calib.xml

+    <default class="sts3215">
+      <geom contype="0" conaffinity="0"/>
+      <joint damping="0.60" frictionloss="0.052" armature="0.028"/>
+      <!-- For lerobot this are not exactly the motor params as the Kp and Kd not map 1-to-1 thus motor idendification with lerobot Kp=16 and Kd=32 should actually be done -->


syntax: 'idendification' should be 'identification'

Suggested change

greptile-apps · 2026-01-16T14:07:57Z

dimos/hardware/manipulators/so101/urdf/so101_new_calib.urdf

+
+  <!-- Gripper frame (dummy link + fixed joint) -->
+  <link name="gripper_frame_link">
+    <origin xyz="0 0 0" rpy="0 -0 0"/>


style: Redundant origin tag inside link definition - URDF links don't need origin tags at the link level, only within visual/collision/inertial elements

Suggested change

<origin xyz="0 0 0" rpy="0 -0 0"/>

<link name="gripper_frame_link">

<inertial>

<origin xyz="0 0 0" rpy="0 0 0"/>

<mass value="1e-9"/>

<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>

</inertial>

</link>

greptile-apps · 2026-01-16T14:07:57Z

dimos/hardware/manipulators/so101/urdf/so101_new_calib.urdf

+    <origin xyz="-0.0079 -0.000218121 -0.0981274" rpy="0 3.14159 0"/>
+    <parent link="gripper_link"/>
+    <child link="gripper_frame_link"/>
+    <axis xyz="0 0 0"/>


style: Axis specification unnecessary for fixed joints - fixed joints don't rotate so axis is ignored

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}

greptile-apps · 2026-01-16T14:07:58Z

dimos/hardware/manipulators/so101/urdf/robot.urdf

+  <link name="gripper_frame_link">
+    <origin xyz="0 0 0" rpy="0 -0 0"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="1e-9"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>


syntax: Gripper frame link has origin tag outside inertial block - this should be moved inside inertial or removed entirely

Suggested change

<link name="gripper_frame_link">

<origin xyz="0 0 0" rpy="0 -0 0"/>

<inertial>

<origin xyz="0 0 0" rpy="0 0 0"/>

<mass value="1e-9"/>

<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>

</inertial>

</link>

<link name="gripper_frame_link">

<inertial>

<origin xyz="0 0 0" rpy="0 0 0"/>

<mass value="1e-9"/>

<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>

</inertial>

</link>

dimos/hardware/manipulators/so101/lerobot_kinematics.py

dimos/hardware/manipulators/so101/so101_wrapper.py

sanjaypokkali and others added 4 commits January 14, 2026 15:34

port over lerobot integration changes to new code structure

1b5f2bf

fix

50c2a70

CI code cleanup

34a7c59

add lock for so101 bus commands, add packages to pyproject

0b39ba4

sanjaypokkali requested a review from a team January 16, 2026 03:11

sanjaypokkali changed the base branch from main to dev January 16, 2026 03:11

greptile-apps bot reviewed Jan 16, 2026

View reviewed changes

sanjaypokkali added 3 commits January 16, 2026 10:27

remove files

66c1ca6

address review comments

bb93fda

fix deps

f20b029

sanjaypokkali marked this pull request as draft January 16, 2026 07:13

sanjaypokkali added 3 commits January 16, 2026 12:48

add blueprints

ad0a604

fix urdf path, remove files

3a97f2b

refactor stuff

3d6b62a

sanjaypokkali marked this pull request as ready for review January 16, 2026 13:55

greptile-apps bot reviewed Jan 16, 2026

View reviewed changes

sanjaypokkali added 3 commits January 16, 2026 19:45

address greptile review comments

af4ce2b

lint and address mypy errors

2a29e57

mypy fix?

f3ade85

sanjaypokkali changed the title ~~[WIP] Lerobot integration bounty~~ Lerobot integration bounty Jan 19, 2026

	<!-- For lerobot this are not exactly the motor params as the Kp and Kd not map 1-to-1 thus motor idendification with lerobot Kp=16 and Kd=32 should actually be done -->
	<!-- For lerobot these are not exactly the motor params as the Kp and Kd not map 1-to-1 thus motor identification with lerobot Kp=16 and Kd=32 should actually be done -->

Lerobot integration bounty #1037

Are you sure you want to change the base?

Lerobot integration bounty #1037

Uh oh!

Conversation

sanjaypokkali commented Jan 16, 2026

Uh oh!

greptile-apps bot commented Jan 16, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Greptile Summary

Important Files Changed

Confidence score: 2/5

Sequence Diagram

Uh oh!

greptile-apps bot left a comment • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Choose a reason for hiding this comment

Additional Comments (1)

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

spomichter commented Jan 16, 2026

Uh oh!

greptile-apps bot left a comment • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Choose a reason for hiding this comment

Additional Comments (8)

Uh oh!

greptile-apps bot Jan 16, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 16, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 16, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 16, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 16, 2026

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

greptile-apps bot commented Jan 16, 2026 •

edited

Loading

greptile-apps bot left a comment •

edited

Loading

greptile-apps bot left a comment •

edited

Loading