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feat(robots): consolidate SO arms implementation (#2763)

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* feat(robots): consolidate SO arms implementation

* chore(robots): delete unnecessary init modules
This commit is contained in:
Steven Palma
2026-01-08 13:04:30 +01:00
committed by GitHub
parent fbe4c8b94f
commit ccfd609ece
65 changed files with 295 additions and 588 deletions
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docs/source/async.mdx
+1 -1
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@@ -169,7 +169,7 @@ python -m lerobot.async_inference.robot_client \
<!-- prettier-ignore-start -->
```python
import threading
from lerobot.robots.so100_follower import SO100FollowerConfig
from lerobot.robots.so_follower import SO100FollowerConfig
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.async_inference.configs import RobotClientConfig
from lerobot.async_inference.robot_client import RobotClient
docs/source/envhub_leisaac.mdx
+2 -2
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@@ -137,7 +137,7 @@ from lerobot.teleoperators import ( # noqa: F401
Teleoperator,
TeleoperatorConfig,
make_teleoperator_from_config,
so101_leader,
so_leader,
)
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import init_logging
@@ -222,7 +222,7 @@ def teleoperate(cfg: TeleoperateConfig):
def main():
teleoperate(TeleoperateConfig(
teleop=so101_leader.SO101LeaderConfig(
teleop=so_leader.SO101LeaderConfig(
port="/dev/ttyACM0",
id='leader',
use_degrees=False,
docs/source/il_robots.mdx
+9 -9
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@@ -58,8 +58,8 @@ lerobot-teleoperate \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so101_leader import SO101LeaderConfig, SO101Leader
from lerobot.robots.so101_follower import SO101FollowerConfig, SO101Follower
from lerobot.teleoperators.so_leader import SO101LeaderConfig, SO101Leader
from lerobot.robots.so_follower import SO101FollowerConfig, SO101Follower
robot_config = SO101FollowerConfig(
port="/dev/tty.usbmodem58760431541",
@@ -195,9 +195,9 @@ lerobot-record \
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.utils import hw_to_dataset_features
from lerobot.robots.so100_follower import SO100Follower, SO100FollowerConfig
from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.teleoperators.so_leader.config_so100_leader import SO100LeaderConfig
from lerobot.teleoperators.so_leader.so100_leader import SO100Leader
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import init_rerun
@@ -408,8 +408,8 @@ lerobot-replay \
import time
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.robots.so_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so_follower.so100_follower import SO100Follower
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import log_say
@@ -531,8 +531,8 @@ from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.utils import hw_to_dataset_features
from lerobot.policies.act.modeling_act import ACTPolicy
from lerobot.policies.factory import make_pre_post_processors
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.robots.so_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so_follower.so100_follower import SO100Follower
from lerobot.scripts.lerobot_record import record_loop
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say
docs/source/integrate_hardware.mdx
+1 -1
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@@ -18,7 +18,7 @@ If you're using Feetech or Dynamixel motors, LeRobot provides built-in bus inter
- [`DynamixelMotorsBus`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/motors/dynamixel/dynamixel.py) – for controlling Dynamixel servos
Please refer to the [`MotorsBus`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/motors/motors_bus.py) abstract class to learn about its API.
For a good example of how it can be used, you can have a look at our own [SO101 follower implementation](https://github.com/huggingface/lerobot/blob/main/src/lerobot/robots/so101_follower/so101_follower.py)
For a good example of how it can be used, you can have a look at our own [SO101 follower implementation](https://github.com/huggingface/lerobot/blob/main/src/lerobot/robots/so_follower/so101_follower/so101_follower.py)
Use these if compatible. Otherwise, you'll need to find or write a Python interface (not covered in this tutorial):
docs/source/lekiwi.mdx
+1 -1
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@@ -204,7 +204,7 @@ lerobot-calibrate \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so100_leader import SO100LeaderConfig, SO100Leader
from lerobot.teleoperators.so_leader import SO100LeaderConfig, SO100Leader
config = SO100LeaderConfig(
port="/dev/tty.usbmodem58760431551",
docs/source/so100.mdx
+4 -4
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@@ -103,7 +103,7 @@ lerobot-setup-motors \
<!-- prettier-ignore-start -->
```python
from lerobot.robots.so100_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
config = SO100FollowerConfig(
port="/dev/tty.usbmodem585A0076841",
@@ -177,7 +177,7 @@ lerobot-setup-motors \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
config = SO100LeaderConfig(
port="/dev/tty.usbmodem585A0076841",
@@ -579,7 +579,7 @@ lerobot-calibrate \
<!-- prettier-ignore-start -->
```python
from lerobot.robots.so100_follower import SO100FollowerConfig, SO100Follower
from lerobot.robots.so_follower import SO100FollowerConfig, SO100Follower
config = SO100FollowerConfig(
port="/dev/tty.usbmodem585A0076891",
@@ -617,7 +617,7 @@ lerobot-calibrate \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so100_leader import SO100LeaderConfig, SO100Leader
from lerobot.teleoperators.so_leader import SO100LeaderConfig, SO100Leader
config = SO100LeaderConfig(
port="/dev/tty.usbmodem58760431551",
docs/source/so101.mdx
+4 -4
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@@ -125,7 +125,7 @@ lerobot-setup-motors \
<!-- prettier-ignore-start -->
```python
from lerobot.robots.so101_follower import SO101Follower, SO101FollowerConfig
from lerobot.robots.so_follower import SO101Follower, SO101FollowerConfig
config = SO101FollowerConfig(
port="/dev/tty.usbmodem585A0076841",
@@ -201,7 +201,7 @@ lerobot-setup-motors \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so101_leader import SO101Leader, SO101LeaderConfig
from lerobot.teleoperators.so_leader import SO101Leader, SO101LeaderConfig
config = SO101LeaderConfig(
port="/dev/tty.usbmodem585A0076841",
@@ -364,7 +364,7 @@ lerobot-calibrate \
<!-- prettier-ignore-start -->
```python
from lerobot.robots.so101_follower import SO101FollowerConfig, SO101Follower
from lerobot.robots.so_follower import SO101FollowerConfig, SO101Follower
config = SO101FollowerConfig(
port="/dev/tty.usbmodem585A0076891",
@@ -413,7 +413,7 @@ lerobot-calibrate \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so101_leader import SO101LeaderConfig, SO101Leader
from lerobot.teleoperators.so_leader import SO101LeaderConfig, SO101Leader
config = SO101LeaderConfig(
port="/dev/tty.usbmodem58760431551",