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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/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