feat(robots): Integrate Reachy Mini

[ravediamond]

Title

feat(robots): Integrate Reachy Mini

Type / Scope

• Type: Feature
• Scope: robots, teleoperators, tests

Summary / Motivation

This PR introduces the complete integration of the Reachy Mini robot, enabling teleoperation capabilities within the lerobot framework. This integration specifically targets the Reachy Mini Lite (USB connection); the Wi-Fi version may require further adjustments. The motivation is to expand the range of supported robotic platforms, providing users with the ability to control the Reachy Mini for data collection and policy evaluation. This integration includes the necessary low-level control mechanisms and a teleoperation interface.

Related issues

• Fixes / Closes: # (if any): None
• Related: # (if any): None

What changed

• Added core integration for Reachy Mini teleoperation, including communication protocols and motor control.
• Implemented a new teleoperation interface specifically for Reachy Mini.
• Introduced unit tests to validate the Reachy Mini integration and ensure proper functionality.

How was this tested

• Tests added: tests/robots/test_reachy_mini.py (assuming a new test file for Reachy Mini)
• Manual checks / dataset runs performed on a physical Reachy Mini robot. (If applicable, describe)

How to run locally (reviewer)

• Run the relevant tests:

  pytest -q tests/robots/test_reachy_mini.py

• To teleoperate a Reachy Mini Lite (USB connection), make sure the robot is plugged in and run:

  python examples/reachy_mini/teleoperate.py

  Note: The Wi-Fi version of Reachy Mini may require additional configuration or fixes not covered in this PR.

Checklist (required before merge)

• Linting/formatting run (pre-commit run -a)
• All tests pass locally (pytest)
• Documentation updated
• CI is green

Reviewer notes

Reviewers should primarily focus on the correctness and stability of the Reachy Mini integration, the teleoperation logic, and the completeness of the unit tests. Any feedback on potential edge-cases or improvements to the control mechanisms would be highly appreciated.