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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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examples/phone_to_so100/evaluate.py
+2 -3
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@@ -34,12 +34,11 @@ from lerobot.processor.converters import (
transition_to_observation,
transition_to_robot_action,
)
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower.robot_kinematic_processor import (
ForwardKinematicsJointsToEE,
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_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
examples/phone_to_so100/record.py
+2 -3
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@@ -26,15 +26,14 @@ from lerobot.processor.converters import (
transition_to_observation,
transition_to_robot_action,
)
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower.robot_kinematic_processor import (
EEBoundsAndSafety,
EEReferenceAndDelta,
ForwardKinematicsJointsToEE,
GripperVelocityToJoint,
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.scripts.lerobot_record import record_loop
from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
examples/phone_to_so100/replay.py
+2 -3
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@@ -23,11 +23,10 @@ from lerobot.processor.converters import (
robot_action_observation_to_transition,
transition_to_robot_action,
)
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower.robot_kinematic_processor import (
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.utils.constants import ACTION
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import log_say
examples/phone_to_so100/teleoperate.py
+2 -3
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@@ -21,14 +21,13 @@ from lerobot.processor.converters import (
robot_action_observation_to_transition,
transition_to_robot_action,
)
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower.robot_kinematic_processor import (
EEBoundsAndSafety,
EEReferenceAndDelta,
GripperVelocityToJoint,
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
from lerobot.teleoperators.phone.teleop_phone import Phone