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

* feat(robots): consolidate SO arms implementation

* chore(robots): delete unnecessary init modules

src/lerobot/rl/actor.py

@@ -65,8 +65,8 @@ from lerobot.policies.sac.modeling_sac import SACPolicy
 from lerobot.processor import TransitionKey
 from lerobot.rl.process import ProcessSignalHandler
 from lerobot.rl.queue import get_last_item_from_queue
-from lerobot.robots import so100_follower  # noqa: F401
-from lerobot.teleoperators import gamepad, so101_leader  # noqa: F401
+from lerobot.robots import so_follower  # noqa: F401
+from lerobot.teleoperators import gamepad, so_leader  # noqa: F401
 from lerobot.teleoperators.utils import TeleopEvents
 from lerobot.transport import services_pb2, services_pb2_grpc
 from lerobot.transport.utils import (

src/lerobot/rl/eval_policy.py

@@ -23,11 +23,11 @@ from lerobot.policies.factory import make_policy
 from lerobot.robots import (  # noqa: F401
     RobotConfig,
     make_robot_from_config,
-    so100_follower,
+    so_follower,
 )
 from lerobot.teleoperators import (
     gamepad,  # noqa: F401
-    so101_leader,  # noqa: F401
+    so_leader,  # noqa: F401
 )
 
 from .gym_manipulator import make_robot_env

src/lerobot/rl/gym_manipulator.py

@@ -55,10 +55,10 @@ from lerobot.processor.converters import identity_transition
 from lerobot.robots import (  # noqa: F401
     RobotConfig,
     make_robot_from_config,
-    so100_follower,
+    so_follower,
 )
 from lerobot.robots.robot import Robot
-from lerobot.robots.so100_follower.robot_kinematic_processor import (
+from lerobot.robots.so_follower.robot_kinematic_processor import (
     EEBoundsAndSafety,
     EEReferenceAndDelta,
     ForwardKinematicsJointsToEEObservation,
@@ -69,7 +69,7 @@ from lerobot.teleoperators import (
     gamepad,  # noqa: F401
     keyboard,  # noqa: F401
     make_teleoperator_from_config,
-    so101_leader,  # noqa: F401
+    so_leader,  # noqa: F401
 )
 from lerobot.teleoperators.teleoperator import Teleoperator
 from lerobot.teleoperators.utils import TeleopEvents

src/lerobot/rl/learner.py

@@ -69,8 +69,8 @@ from lerobot.policies.sac.modeling_sac import SACPolicy
 from lerobot.rl.buffer import ReplayBuffer, concatenate_batch_transitions
 from lerobot.rl.process import ProcessSignalHandler
 from lerobot.rl.wandb_utils import WandBLogger
-from lerobot.robots import so100_follower  # noqa: F401
-from lerobot.teleoperators import gamepad, so101_leader  # noqa: F401
+from lerobot.robots import so_follower  # noqa: F401
+from lerobot.teleoperators import gamepad, so_leader  # noqa: F401
 from lerobot.teleoperators.utils import TeleopEvents
 from lerobot.transport import services_pb2_grpc
 from lerobot.transport.utils import (