feat(manipulation): UFactory Lite 6 support

dimos/core/global_config.py

@@ -57,6 +57,7 @@ class GlobalConfig(BaseSettings):
     unitree_aes_128_key: str | None = None
     xarm7_ip: str | None = None
     xarm6_ip: str | None = None
+    lite6_ip: str | None = None
     can_port: str | None = None
     device_path: str | None = None  # device path for real robot (e.g. /dev/ttyUSB0)
     simulation: str = ""

dimos/hardware/manipulators/xarm/adapter.py

@@ -93,6 +93,10 @@ def __init__(
         # anywhere, and ManipulationModule already adopts wherever it is as the
         # "init" preset from the first joint state it receives.
         self._initial_positions = None if initial_positions is None else list(initial_positions)
+        self._lite6: bool = False
+        # Lite 6 gripper is open/close over tool GPIO with no feedback; echo the last command.
+        self._lite6_gripper: float = XARM_GRIPPER_MIN
+        self._lite6_gripper_sent: bool = False
 
     def connect(self) -> bool:
         """Connect to XArm via TCP/IP."""
@@ -103,6 +107,8 @@ def connect(self) -> bool:
             if not self._arm.connected:
                 logger.error("XArm at %s not reachable (connected=False)", self._ip)
                 return False
+            # Mirrors the SDK's is_lite6, which the XArmAPI wrapper does not expose.
+            self._lite6 = self._arm.axis == 6 and self._arm.device_type == 9
 
             # Initialize to servo mode for high-frequency control
             self._arm.set_mode(_XARM_MODE_SERVO_CARTESIAN)  # Mode 1 = servo mode
@@ -128,7 +134,7 @@ def get_info(self) -> ManipulatorInfo:
         """Get XArm information."""
         return ManipulatorInfo(
             vendor="UFACTORY",
-            model=f"xArm{self._arm_dof}",
+            model="Lite6" if self._lite6 else f"xArm{self._arm_dof}",
             dof=self._dof,
         )
 
@@ -419,6 +425,8 @@ def _read_gripper(self) -> float:
         """Read the gripper position in SDK units (0-850)."""
         if not self._arm:
             return 0.0
+        if self._lite6:
+            return self._lite6_gripper
 
         result = self._arm.get_gripper_position()
         code: int = result[0]
@@ -431,6 +439,18 @@ def _write_gripper(self, position: float) -> bool:
         """Command the gripper in SDK units (0-850)."""
         if not self._arm:
             return False
+        if self._lite6:
+            opening = position > (XARM_GRIPPER_MIN + XARM_GRIPPER_MAX) / 2
+            target = XARM_GRIPPER_MAX if opening else XARM_GRIPPER_MIN
+            if target == self._lite6_gripper and self._lite6_gripper_sent:
+                return True  # tool GPIO write per tick spams the controller; send transitions only
+            lite_code: int = (
+                self._arm.open_lite6_gripper() if opening else self._arm.close_lite6_gripper()
+            )
+            if lite_code == 0:
+                self._lite6_gripper = target
+                self._lite6_gripper_sent = True
+            return lite_code == 0
 
         if not self._gripper_enabled:
             self._arm.set_gripper_enable(True)

dimos/hardware/manipulators/xarm/test_adapter.py

@@ -30,6 +30,8 @@
 
 class _FakeXArmSdk:
     instances: ClassVar[list[_FakeXArmSdk]] = []
+    axis = 6
+    device_type = 6  # 9 = Lite 6
 
     def __init__(self, ip: str) -> None:
         self.instances.append(self)
@@ -102,6 +104,14 @@ def set_gripper_position(self, position: float, *, wait: bool) -> int:
         self.actions.append(("set_gripper_position", position, wait))
         return 0
 
+    def open_lite6_gripper(self) -> int:
+        self.actions.append(("open_lite6_gripper",))
+        return 0
+
+    def close_lite6_gripper(self) -> int:
+        self.actions.append(("close_lite6_gripper",))
+        return 0
+
 
 @pytest.fixture
 def xarm_adapter_module(monkeypatch: pytest.MonkeyPatch) -> Iterator[ModuleType]:
@@ -198,3 +208,25 @@ def test_gripper_command_reaches_sdk_once_in_native_units(
     sdk = _FakeXArmSdk.instances[-1]
     assert sdk.servo_joint_commands == [[0.0] * 7]
     assert sdk.gripper_commands == [850.0]
+
+
+def test_lite6_detected_and_uses_gpio_gripper(
+    xarm_adapter_module: ModuleType, monkeypatch: pytest.MonkeyPatch
+) -> None:
+    monkeypatch.setattr(_FakeXArmSdk, "device_type", 9)
+    adapter = xarm_adapter_module.XArmAdapter(address="192.0.2.10", dof=7, arm_dof=6)
+    assert adapter.connect()
+    assert adapter.get_info().model == "Lite6"
+
+    assert adapter.activate()
+    arm = _FakeXArmSdk.instances[-1]
+
+    assert adapter.write_joint_positions([0.0] * 6 + [850.0])
+    assert adapter.write_joint_positions([0.0] * 6 + [850.0])  # repeat: no resend
+    assert adapter.write_joint_positions([0.0] * 6 + [0.0])
+    assert arm.gripper_commands == []
+    assert [a for a in arm.actions if "lite6_gripper" in a[0]] == [
+        ("open_lite6_gripper",),
+        ("close_lite6_gripper",),
+    ]
+    assert adapter.read_joint_positions()[-1] == 0.0

dimos/robot/all_blueprints.py

@@ -30,6 +30,7 @@
     "coordinator-dual-xarm": "dimos.robot.manipulators.xarm.blueprints.basic:coordinator_dual_xarm",
     "coordinator-flowbase": "dimos.control.blueprints.mobile:coordinator_flowbase",
     "coordinator-flowbase-keyboard-teleop": "dimos.control.blueprints.mobile:coordinator_flowbase_keyboard_teleop",
+    "coordinator-lite6": "dimos.robot.manipulators.xarm.blueprints.basic:coordinator_lite6",
     "coordinator-mobile-manip-mock": "dimos.control.blueprints.mobile:coordinator_mobile_manip_mock",
     "coordinator-mock": "dimos.robot.manipulators.common.mock:coordinator_mock",
     "coordinator-mock-twist-base": "dimos.control.blueprints.mobile:coordinator_mock_twist_base",
@@ -80,13 +81,15 @@
     "habitat-voxel": "dimos.simulation.habitat.blueprints:habitat_voxel",
     "keyboard-teleop-a1z": "dimos.robot.manipulators.a1z.blueprints.teleop:keyboard_teleop_a1z",
     "keyboard-teleop-a750": "dimos.robot.manipulators.a750.blueprints.teleop:keyboard_teleop_a750",
+    "keyboard-teleop-lite6": "dimos.robot.manipulators.xarm.blueprints.teleop:keyboard_teleop_lite6",
     "keyboard-teleop-openyam": "dimos.robot.manipulators.openyam.blueprints.teleop:keyboard_teleop_openyam",
     "keyboard-teleop-openyam-planner": "dimos.robot.manipulators.openyam.blueprints.teleop:keyboard_teleop_openyam_planner",
     "keyboard-teleop-piper": "dimos.robot.manipulators.piper.blueprints.teleop:keyboard_teleop_piper",
     "keyboard-teleop-xarm6": "dimos.robot.manipulators.xarm.blueprints.teleop:keyboard_teleop_xarm6",
     "keyboard-teleop-xarm7": "dimos.robot.manipulators.xarm.blueprints.teleop:keyboard_teleop_xarm7",
     "learning-collect-webxr-piper": "dimos.imitation.collection.blueprint:learning_collect_webxr_piper",
     "learning-collect-webxr-xarm7": "dimos.imitation.collection.blueprint:learning_collect_webxr_xarm7",
+    "lite6-planner-coordinator": "dimos.robot.manipulators.xarm.blueprints.basic:lite6_planner_coordinator",
     "mid360": "dimos.hardware.sensors.lidar.livox.livox_blueprints:mid360",
     "mid360-fastlio": "dimos.hardware.sensors.lidar.fastlio2.fastlio_blueprints:mid360_fastlio",
     "mid360-fastlio-ray-trace": "dimos.hardware.sensors.lidar.fastlio2.fastlio_blueprints:mid360_fastlio_ray_trace",

dimos/robot/manipulators/xarm/blueprints/basic.py

@@ -23,7 +23,9 @@
 from dimos.robot.manipulators.xarm.config import (
     XARM6_SIM_PATH,
     XARM7_SIM_PATH,
+    lite6_hardware,
     make_dual_xarm6_model_config,
+    make_lite6_model_config,
     make_xarm7_model_config,
     make_xarm_hardware,
     xarm6_hardware,
@@ -94,6 +96,29 @@ def _gripper_task() -> TaskConfig:
     *mujoco_if_sim(XARM6_SIM_PATH, len(_coordinator_xarm6_hw.joints)),
 )
 
+_coordinator_lite6_hw = lite6_hardware("arm", gripper=True)
+
+coordinator_lite6 = ControlCoordinator.blueprint(
+    hardware=[_coordinator_lite6_hw],
+    tasks=[trajectory_task(_coordinator_lite6_hw), _gripper_task()],
+)
+
+_lite6_hw = lite6_hardware("arm", gripper=True, mock_without_address=True)
+
+lite6_planner_coordinator = autoconnect(
+    planner(
+        model=make_lite6_model_config(
+            add_gripper=True,
+            gripper_hardware_id="arm",
+        ),
+        visualization={"backend": "viser"},
+    ),
+    coordinator(
+        hardware=[_lite6_hw],
+        tasks=[trajectory_task(_lite6_hw), _gripper_task()],
+    ),
+)
+
 _xarm7_left = xarm7_hardware(
     "left_arm", canonical_joint_names=[f"left_arm/joint{i}" for i in range(1, 8)]
 )

dimos/robot/manipulators/xarm/blueprints/teleop.py

@@ -33,6 +33,8 @@
 from dimos.robot.manipulators.xarm.config import (
     XARM6_SIM_PATH,
     XARM7_SIM_PATH,
+    lite6_hardware,
+    make_lite6_model_config,
     make_xarm6_model_config,
     make_xarm7_model_config,
     make_xarm_hardware,
@@ -110,6 +112,40 @@
     ),
 )
 
+_lite6_hw = lite6_hardware("arm", gripper=True, mock_without_address=True)
+
+keyboard_teleop_lite6 = autoconnect(
+    KeyboardTeleopModule.blueprint(),
+    ArmTwistCoordinator.blueprint(
+        instance_name="ControlCoordinator",
+        tick_rate=100.0,
+        publish_joint_state=True,
+        joint_state_frame_id="coordinator",
+        hardware=[_lite6_hw],
+        tasks=[
+            eef_twist_task(
+                _lite6_hw,
+                robot_model=make_lite6_model_config(add_gripper=False),
+                target_frame="link6",
+                timeout=0.0,
+            ),
+            TaskConfig(
+                name="arm_gripper",
+                type="gripper",
+                joint_names=["arm/gripper"],
+                priority=20,
+            ),
+        ],
+    ),
+    ManipulationModule.blueprint(
+        model=make_lite6_model_config(
+            add_gripper=True,
+            gripper_hardware_id="arm",
+        ),
+        visualization={"backend": "viser"},
+    ),
+)
+
 _xarm6_control_hw = make_xarm_hardware(
     "arm",
     6,

dimos/robot/manipulators/xarm/config.py

@@ -309,6 +309,7 @@ def xarm6_hardware(
 def make_xarm_model_config(
     dof: int,
     *,
+    robot_type: str = "xarm",
     prefix: str = "",
     add_gripper: bool = True,
     gripper_hardware_id: str | None = None,
@@ -319,6 +320,7 @@ def make_xarm_model_config(
 ) -> RobotModelConfig:
     xacro_args = {
         "dof": str(dof),
+        "robot_type": robot_type,
         "prefix": prefix,
         "limited": "true",
         "attach_xyz": "0 0 0",
@@ -350,7 +352,9 @@ def make_xarm_model_config(
             )
         ],
         auto_convert_meshes=True,
-        collision_exclusion_pairs=collision_exclusions if add_gripper else [],
+        collision_exclusion_pairs=(
+            collision_exclusions if add_gripper and robot_type == "xarm" else []
+        ),
         gripper_hardware_id=gripper_hardware_id,
         tf_extra_links=[f"{prefix}{link}" for link in (tf_extra_links or [])],
         home_joints=home_joints or [0.0] * dof,
@@ -368,3 +372,31 @@ def make_xarm7_model_config(
     **kwargs: Any,
 ) -> RobotModelConfig:
     return make_xarm_model_config(7, **kwargs)
+
+
+def make_lite6_model_config(
+    **kwargs: Any,
+) -> RobotModelConfig:
+    return make_xarm_model_config(6, robot_type="lite", **kwargs)
+
+
+def lite6_hardware(
+    hw_id: str = "arm",
+    *,
+    gripper: bool = False,
+    mock_without_address: bool = False,
+    home_joints: list[float] | None = None,
+    canonical_joint_names: list[str] | None = None,
+) -> HardwareComponent:
+    """Lite 6 speaks the xArm SDK; the adapter detects the model on connect. No sim scene yet."""
+    address = global_config.lite6_ip
+    adapter_type = "mock" if mock_without_address and not address else "xarm"
+    return make_xarm_hardware(
+        hw_id,
+        6,
+        adapter_type=adapter_type,
+        address=address,
+        gripper=gripper,
+        home_joints=home_joints,
+        canonical_joint_names=canonical_joint_names,
+    )

dimos/robot/manipulators/xarm/test_model_config.py

@@ -20,6 +20,7 @@
 from dimos.robot.manipulators.xarm.config import (
     XARM_GRIPPER_COLLISION_EXCLUSIONS,
     make_dual_xarm6_model_config,
+    make_lite6_model_config,
     make_xarm6_model_config,
 )
 
@@ -80,3 +81,23 @@ def test_prefixed_xarm_model_asset_uses_coordinator_facing_names() -> None:
     model = prepare_robot_model(config).description
 
     assert [joint.name for joint in model.joints if joint.type != "fixed"] == config.joint_names
+
+
+def test_lite6_model_config_selects_lite_robot_type() -> None:
+    config = make_lite6_model_config(add_gripper=True, gripper_hardware_id="arm")
+
+    assert dict(config.model._xacro_args)["robot_type"] == "lite"
+    assert config.joint_names == [f"joint{i}" for i in range(1, 7)]
+    assert config.planning_groups[0].tip_link == "link_tcp"
+    assert config.collision_exclusion_pairs == []
+
+
+@pytest.mark.self_hosted
+def test_lite6_model_asset_has_lite_gripper() -> None:
+    config = make_lite6_model_config(add_gripper=True)
+    model = prepare_robot_model(config).description
+
+    joint_names = {joint.name for joint in model.joints}
+    assert {"joint1", "joint6", "gripper_fix", "joint_tcp"} <= joint_names
+    assert "drive_joint" not in joint_names
+    assert 'name="uflite_gripper_link"' in model.xml

docs/usage/configuration.md

@@ -87,6 +87,7 @@ Config(
         unitree_aes_128_key=None,
         xarm7_ip=None,
         xarm6_ip=None,
+        lite6_ip=None,
         can_port=None,
         device_path=None,
         simulation='',