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feat(robot): mirror new configs from SO10X to its Bi manual counterpart (#4238)

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This commit is contained in:
Steven Palma
2026-07-30 17:11:58 +02:00
committed by GitHub
parent fbe8f5c9da
commit 7b1419a7fa
2 changed files with 6 additions and 0 deletions
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src/lerobot/robots/bi_so_follower/bi_so_follower.py
+2
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@@ -62,6 +62,7 @@ class BiSOFollower(BimanualMixin, Robot):
position_i_coefficient=config.left_arm_config.position_i_coefficient, position_i_coefficient=config.left_arm_config.position_i_coefficient,
position_d_coefficient=config.left_arm_config.position_d_coefficient, position_d_coefficient=config.left_arm_config.position_d_coefficient,
use_degrees=config.left_arm_config.use_degrees, use_degrees=config.left_arm_config.use_degrees,
num_read_retries=config.left_arm_config.num_read_retries,
cameras=left_arm_cameras, cameras=left_arm_cameras,
) )
@@ -75,6 +76,7 @@ class BiSOFollower(BimanualMixin, Robot):
position_i_coefficient=config.right_arm_config.position_i_coefficient, position_i_coefficient=config.right_arm_config.position_i_coefficient,
position_d_coefficient=config.right_arm_config.position_d_coefficient, position_d_coefficient=config.right_arm_config.position_d_coefficient,
use_degrees=config.right_arm_config.use_degrees, use_degrees=config.right_arm_config.use_degrees,
num_read_retries=config.right_arm_config.num_read_retries,
cameras=config.right_arm_config.cameras, cameras=config.right_arm_config.cameras,
) )
src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py
+4
View File
@@ -44,12 +44,16 @@ class BiSOLeader(BimanualMixin, Teleoperator):
id=f"{config.id}_left" if config.id else None, id=f"{config.id}_left" if config.id else None,
calibration_dir=config.calibration_dir, calibration_dir=config.calibration_dir,
port=config.left_arm_config.port, 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( right_arm_config = SOLeaderTeleopConfig(
id=f"{config.id}_right" if config.id else None, id=f"{config.id}_right" if config.id else None,
calibration_dir=config.calibration_dir, calibration_dir=config.calibration_dir,
port=config.right_arm_config.port, 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) self.left_arm = SOLeader(left_arm_config)