From 7b1419a7fa17bfd2fd8be6245f42b0ff7a4ba90e Mon Sep 17 00:00:00 2001 From: Steven Palma Date: Thu, 30 Jul 2026 17:11:58 +0200 Subject: [PATCH] feat(robot): mirror new configs from SO10X to its Bi manual counterpart (#4238) --- src/lerobot/robots/bi_so_follower/bi_so_follower.py | 2 ++ src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py | 4 ++++ 2 files changed, 6 insertions(+) diff --git a/src/lerobot/robots/bi_so_follower/bi_so_follower.py b/src/lerobot/robots/bi_so_follower/bi_so_follower.py index dcc64224d..de963d4d0 100644 --- a/src/lerobot/robots/bi_so_follower/bi_so_follower.py +++ b/src/lerobot/robots/bi_so_follower/bi_so_follower.py @@ -62,6 +62,7 @@ class BiSOFollower(BimanualMixin, Robot): position_i_coefficient=config.left_arm_config.position_i_coefficient, position_d_coefficient=config.left_arm_config.position_d_coefficient, use_degrees=config.left_arm_config.use_degrees, + num_read_retries=config.left_arm_config.num_read_retries, cameras=left_arm_cameras, ) @@ -75,6 +76,7 @@ class BiSOFollower(BimanualMixin, Robot): position_i_coefficient=config.right_arm_config.position_i_coefficient, position_d_coefficient=config.right_arm_config.position_d_coefficient, use_degrees=config.right_arm_config.use_degrees, + num_read_retries=config.right_arm_config.num_read_retries, cameras=config.right_arm_config.cameras, ) diff --git a/src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py b/src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py index 47532c317..d1ec02001 100644 --- a/src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py +++ b/src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py @@ -44,12 +44,16 @@ class BiSOLeader(BimanualMixin, Teleoperator): id=f"{config.id}_left" if config.id else None, calibration_dir=config.calibration_dir, port=config.left_arm_config.port, + use_degrees=config.left_arm_config.use_degrees, + num_read_retries=config.left_arm_config.num_read_retries, ) right_arm_config = SOLeaderTeleopConfig( id=f"{config.id}_right" if config.id else None, calibration_dir=config.calibration_dir, port=config.right_arm_config.port, + use_degrees=config.right_arm_config.use_degrees, + num_read_retries=config.right_arm_config.num_read_retries, ) self.left_arm = SOLeader(left_arm_config)