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

* feat(robots): consolidate SO arms implementation

* chore(robots): delete unnecessary init modules

docs/source/async.mdx

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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",

examples/backward_compatibility/replay.py

@@ -41,8 +41,7 @@ from lerobot.robots import (  # noqa: F401
     RobotConfig,
     koch_follower,
     make_robot_from_config,
-    so100_follower,
-    so101_follower,
+    so_follower,
 )
 from lerobot.utils.constants import ACTION
 from lerobot.utils.robot_utils import precise_sleep

examples/lekiwi/record.py

@@ -21,7 +21,7 @@ from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
 from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient
 from lerobot.scripts.lerobot_record import record_loop
 from lerobot.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
-from lerobot.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
+from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
 from lerobot.utils.constants import ACTION, OBS_STR
 from lerobot.utils.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say

examples/lekiwi/teleoperate.py

@@ -18,7 +18,7 @@ import time
 
 from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
 from lerobot.teleoperators.keyboard.teleop_keyboard import KeyboardTeleop, KeyboardTeleopConfig
-from lerobot.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
+from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
 

examples/phone_to_so100/evaluate.py

@@ -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

@@ -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

@@ -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

@@ -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

examples/rtc/eval_with_real_robot.py

@@ -95,8 +95,7 @@ from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
     koch_follower,
-    so100_follower,
-    so101_follower,
+    so_follower,
 )
 from lerobot.robots.utils import make_robot_from_config
 from lerobot.utils.constants import OBS_IMAGES

examples/so100_to_so100_EE/evaluate.py

@@ -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/so100_to_so100_EE/record.py

@@ -27,16 +27,15 @@ 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,
     ForwardKinematicsJointsToEE,
     InverseKinematicsEEToJoints,
 )
-from lerobot.robots.so100_follower.so100_follower import SO100Follower
 from lerobot.scripts.lerobot_record import record_loop
-from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
-from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
+from lerobot.teleoperators.so_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

examples/so100_to_so100_EE/replay.py

@@ -24,11 +24,10 @@ 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/so100_to_so100_EE/teleoperate.py

@@ -23,15 +23,14 @@ from lerobot.processor.converters import (
     robot_action_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,
     ForwardKinematicsJointsToEE,
     InverseKinematicsEEToJoints,
 )
-from lerobot.robots.so100_follower.so100_follower import SO100Follower
-from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
-from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
+from lerobot.teleoperators.so_leader import SO100LeaderConfig
+from lerobot.teleoperators.so_leader.so100_leader import SO100Leader
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
 

examples/tutorial/act/act_using_example.py

@@ -5,8 +5,7 @@ from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.policies.utils import build_inference_frame, make_robot_action
-from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
-from lerobot.robots.so100_follower.so100_follower import SO100Follower
+from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 
 MAX_EPISODES = 5
 MAX_STEPS_PER_EPISODE = 20

examples/tutorial/async-inf/robot_client.py

@@ -4,7 +4,7 @@ from lerobot.async_inference.configs import RobotClientConfig
 from lerobot.async_inference.helpers import visualize_action_queue_size
 from lerobot.async_inference.robot_client import RobotClient
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.robots.so100_follower import SO100FollowerConfig
+from lerobot.robots.so_follower import SO100FollowerConfig
 
 
 def main():

examples/tutorial/diffusion/diffusion_using_example.py

@@ -5,8 +5,7 @@ from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
 from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.policies.utils import build_inference_frame, make_robot_action
-from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
-from lerobot.robots.so100_follower.so100_follower import SO100Follower
+from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 
 MAX_EPISODES = 5
 MAX_STEPS_PER_EPISODE = 20

examples/tutorial/pi0/using_pi0_example.py

@@ -5,8 +5,7 @@ from lerobot.datasets.utils import hw_to_dataset_features
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.policies.pi0.modeling_pi0 import PI0Policy
 from lerobot.policies.utils import build_inference_frame, make_robot_action
-from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
-from lerobot.robots.so100_follower.so100_follower import SO100Follower
+from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 
 MAX_EPISODES = 5
 MAX_STEPS_PER_EPISODE = 20

examples/tutorial/rl/hilserl_example.py

@@ -14,8 +14,8 @@ from lerobot.policies.sac.modeling_sac import SACPolicy
 from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
 from lerobot.rl.buffer import ReplayBuffer
 from lerobot.rl.gym_manipulator import make_robot_env
-from lerobot.robots.so100_follower import SO100FollowerConfig
-from lerobot.teleoperators.so100_leader import SO100LeaderConfig
+from lerobot.robots.so_follower import SO100FollowerConfig
+from lerobot.teleoperators.so_leader import SO100LeaderConfig
 from lerobot.teleoperators.utils import TeleopEvents
 
 LOG_EVERY = 10

examples/tutorial/smolvla/using_smolvla_example.py

@@ -5,8 +5,7 @@ from lerobot.datasets.utils import hw_to_dataset_features
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy
 from lerobot.policies.utils import build_inference_frame, make_robot_action
-from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
-from lerobot.robots.so100_follower.so100_follower import SO100Follower
+from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 
 MAX_EPISODES = 5
 MAX_STEPS_PER_EPISODE = 20

src/lerobot/async_inference/robot_client.py

@@ -55,8 +55,7 @@ from lerobot.robots import (  # noqa: F401
     koch_follower,
     make_robot_from_config,
     omx_follower,
-    so100_follower,
-    so101_follower,
+    so_follower,
 )
 from lerobot.transport import (
     services_pb2,  # type: ignore

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 (

src/lerobot/robots/bi_so100_follower/bi_so100_follower.py

@@ -20,8 +20,7 @@ from functools import cached_property
 from typing import Any
 
 from lerobot.cameras.utils import make_cameras_from_configs
-from lerobot.robots.so100_follower import SO100Follower
-from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
+from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 
 from ..robot import Robot
 from .config_bi_so100_follower import BiSO100FollowerConfig

src/lerobot/robots/so100_follower/config_so100_follower.py

@@ -1,41 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from dataclasses import dataclass, field
-
-from lerobot.cameras import CameraConfig
-
-from ..config import RobotConfig
-
-
-@RobotConfig.register_subclass("so100_follower")
-@dataclass
-class SO100FollowerConfig(RobotConfig):
-    # Port to connect to the arm
-    port: str
-
-    disable_torque_on_disconnect: bool = True
-
-    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
-    # names to the max_relative_target value for that motor.
-    max_relative_target: float | dict[str, float] | None = None
-
-    # cameras
-    cameras: dict[str, CameraConfig] = field(default_factory=dict)
-
-    # Set to `True` for backward compatibility with previous policies/dataset
-    use_degrees: bool = False

src/lerobot/robots/so100_follower/so100.mdx

@@ -1 +0,0 @@
-../../../../docs/source/so100.mdx

src/lerobot/robots/so101_follower/so101.mdx

@@ -1 +0,0 @@
-../../../../docs/source/so101.mdx

src/lerobot/robots/so101_follower/so101_follower.py

@@ -1,230 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import logging
-import time
-from functools import cached_property
-from typing import Any
-
-from lerobot.cameras.utils import make_cameras_from_configs
-from lerobot.motors import Motor, MotorCalibration, MotorNormMode
-from lerobot.motors.feetech import (
-    FeetechMotorsBus,
-    OperatingMode,
-)
-from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
-
-from ..robot import Robot
-from ..utils import ensure_safe_goal_position
-from .config_so101_follower import SO101FollowerConfig
-
-logger = logging.getLogger(__name__)
-
-
-class SO101Follower(Robot):
-    """
-    SO-101 Follower Arm designed by TheRobotStudio and Hugging Face.
-    """
-
-    config_class = SO101FollowerConfig
-    name = "so101_follower"
-
-    def __init__(self, config: SO101FollowerConfig):
-        super().__init__(config)
-        self.config = config
-        norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
-        self.bus = FeetechMotorsBus(
-            port=self.config.port,
-            motors={
-                "shoulder_pan": Motor(1, "sts3215", norm_mode_body),
-                "shoulder_lift": Motor(2, "sts3215", norm_mode_body),
-                "elbow_flex": Motor(3, "sts3215", norm_mode_body),
-                "wrist_flex": Motor(4, "sts3215", norm_mode_body),
-                "wrist_roll": Motor(5, "sts3215", norm_mode_body),
-                "gripper": Motor(6, "sts3215", MotorNormMode.RANGE_0_100),
-            },
-            calibration=self.calibration,
-        )
-        self.cameras = make_cameras_from_configs(config.cameras)
-
-    @property
-    def _motors_ft(self) -> dict[str, type]:
-        return {f"{motor}.pos": float for motor in self.bus.motors}
-
-    @property
-    def _cameras_ft(self) -> dict[str, tuple]:
-        return {
-            cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
-        }
-
-    @cached_property
-    def observation_features(self) -> dict[str, type | tuple]:
-        return {**self._motors_ft, **self._cameras_ft}
-
-    @cached_property
-    def action_features(self) -> dict[str, type]:
-        return self._motors_ft
-
-    @property
-    def is_connected(self) -> bool:
-        return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
-
-    def connect(self, calibrate: bool = True) -> None:
-        """
-        We assume that at connection time, arm is in a rest position,
-        and torque can be safely disabled to run calibration.
-        """
-        if self.is_connected:
-            raise DeviceAlreadyConnectedError(f"{self} already connected")
-
-        self.bus.connect()
-        if not self.is_calibrated and calibrate:
-            logger.info(
-                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
-            )
-            self.calibrate()
-
-        for cam in self.cameras.values():
-            cam.connect()
-
-        self.configure()
-        logger.info(f"{self} connected.")
-
-    @property
-    def is_calibrated(self) -> bool:
-        return self.bus.is_calibrated
-
-    def calibrate(self) -> None:
-        if self.calibration:
-            # self.calibration is not empty here
-            user_input = input(
-                f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
-            )
-            if user_input.strip().lower() != "c":
-                logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
-                self.bus.write_calibration(self.calibration)
-                return
-
-        logger.info(f"\nRunning calibration of {self}")
-        self.bus.disable_torque()
-        for motor in self.bus.motors:
-            self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
-
-        input(f"Move {self} to the middle of its range of motion and press ENTER....")
-        homing_offsets = self.bus.set_half_turn_homings()
-
-        print(
-            "Move all joints sequentially through their entire ranges "
-            "of motion.\nRecording positions. Press ENTER to stop..."
-        )
-        range_mins, range_maxes = self.bus.record_ranges_of_motion()
-
-        self.calibration = {}
-        for motor, m in self.bus.motors.items():
-            self.calibration[motor] = MotorCalibration(
-                id=m.id,
-                drive_mode=0,
-                homing_offset=homing_offsets[motor],
-                range_min=range_mins[motor],
-                range_max=range_maxes[motor],
-            )
-
-        self.bus.write_calibration(self.calibration)
-        self._save_calibration()
-        print("Calibration saved to", self.calibration_fpath)
-
-    def configure(self) -> None:
-        with self.bus.torque_disabled():
-            self.bus.configure_motors()
-            for motor in self.bus.motors:
-                self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
-                # Set P_Coefficient to lower value to avoid shakiness (Default is 32)
-                self.bus.write("P_Coefficient", motor, 16)
-                # Set I_Coefficient and D_Coefficient to default value 0 and 32
-                self.bus.write("I_Coefficient", motor, 0)
-                self.bus.write("D_Coefficient", motor, 32)
-
-                if motor == "gripper":
-                    self.bus.write(
-                        "Max_Torque_Limit", motor, 500
-                    )  # 50% of the max torque limit to avoid burnout
-                    self.bus.write("Protection_Current", motor, 250)  # 50% of max current to avoid burnout
-                    self.bus.write("Overload_Torque", motor, 25)  # 25% torque when overloaded
-
-    def setup_motors(self) -> None:
-        for motor in reversed(self.bus.motors):
-            input(f"Connect the controller board to the '{motor}' motor only and press enter.")
-            self.bus.setup_motor(motor)
-            print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
-
-    def get_observation(self) -> dict[str, Any]:
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-
-        # Read arm position
-        start = time.perf_counter()
-        obs_dict = self.bus.sync_read("Present_Position")
-        obs_dict = {f"{motor}.pos": val for motor, val in obs_dict.items()}
-        dt_ms = (time.perf_counter() - start) * 1e3
-        logger.debug(f"{self} read state: {dt_ms:.1f}ms")
-
-        # Capture images from cameras
-        for cam_key, cam in self.cameras.items():
-            start = time.perf_counter()
-            obs_dict[cam_key] = cam.async_read()
-            dt_ms = (time.perf_counter() - start) * 1e3
-            logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
-
-        return obs_dict
-
-    def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
-        """Command arm to move to a target joint configuration.
-
-        The relative action magnitude may be clipped depending on the configuration parameter
-        `max_relative_target`. In this case, the action sent differs from original action.
-        Thus, this function always returns the action actually sent.
-
-        Raises:
-            RobotDeviceNotConnectedError: if robot is not connected.
-
-        Returns:
-            the action sent to the motors, potentially clipped.
-        """
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-
-        goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
-
-        # Cap goal position when too far away from present position.
-        # /!\ Slower fps expected due to reading from the follower.
-        if self.config.max_relative_target is not None:
-            present_pos = self.bus.sync_read("Present_Position")
-            goal_present_pos = {key: (g_pos, present_pos[key]) for key, g_pos in goal_pos.items()}
-            goal_pos = ensure_safe_goal_position(goal_present_pos, self.config.max_relative_target)
-
-        # Send goal position to the arm
-        self.bus.sync_write("Goal_Position", goal_pos)
-        return {f"{motor}.pos": val for motor, val in goal_pos.items()}
-
-    def disconnect(self):
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-
-        self.bus.disconnect(self.config.disable_torque_on_disconnect)
-        for cam in self.cameras.values():
-            cam.disconnect()
-
-        logger.info(f"{self} disconnected.")

src/lerobot/robots/so_follower/__init__.py

@@ -0,0 +1,23 @@
+#!/usr/bin/env python
+
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+from .so100_follower.config_so100_follower import SO100FollowerConfig
+from .so100_follower.so100_follower import SO100Follower
+from .so101_follower.config_so101_follower import SO101FollowerConfig
+from .so101_follower.so101_follower import SO101Follower
+from .so_follower_base import SOFollowerBase
+from .so_follower_config_base import SOFollowerConfigBase

src/lerobot/robots/so_follower/so100_follower/config_so100_follower.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -14,5 +14,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .config_so101_leader import SO101LeaderConfig
-from .so101_leader import SO101Leader
+from dataclasses import dataclass
+
+from ...config import RobotConfig
+from ..so_follower_config_base import SOFollowerConfigBase
+
+
+@RobotConfig.register_subclass("so100_follower")
+@dataclass
+class SO100FollowerConfig(SOFollowerConfigBase):
+    pass

src/lerobot/robots/so_follower/so100_follower/so100.md

@@ -0,0 +1 @@
+../../../../../docs/source/so100.mdx

src/lerobot/robots/so_follower/so100_follower/so100_follower.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ..so_follower_base import SOFollowerBase
+from .config_so100_follower import SO100FollowerConfig
+
+
+class SO100Follower(SOFollowerBase):
+    """
+    SO-101 follower robot class. [SO-101 Follower Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
+    """
+
+    config_class = SO100FollowerConfig
+    name = "so100_follower"

src/lerobot/robots/so_follower/so101_follower/config_so101_follower.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -14,5 +14,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .config_so100_leader import SO100LeaderConfig
-from .so100_leader import SO100Leader
+from dataclasses import dataclass
+
+from ...config import RobotConfig
+from ..so_follower_config_base import SOFollowerConfigBase
+
+
+@RobotConfig.register_subclass("so101_follower")
+@dataclass
+class SO101FollowerConfig(SOFollowerConfigBase):
+    pass

src/lerobot/robots/so_follower/so101_follower/so101.md

@@ -0,0 +1 @@
+../../../../../docs/source/so101.mdx

src/lerobot/robots/so_follower/so101_follower/so101_follower.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -14,5 +14,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from ..so_follower_base import SOFollowerBase
 from .config_so101_follower import SO101FollowerConfig
-from .so101_follower import SO101Follower
+
+
+class SO101Follower(SOFollowerBase):
+    """
+    SO-101 follower robot class. [SO-101 Follower Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
+    """
+
+    config_class = SO101FollowerConfig
+    name = "so101_follower"

src/lerobot/robots/so_follower/so_follower_base.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -29,22 +29,23 @@ from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnected
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position
-from .config_so100_follower import SO100FollowerConfig
+from .so_follower_config_base import SOFollowerConfigBase
 
 logger = logging.getLogger(__name__)
 
 
-class SO100Follower(Robot):
+class SOFollowerBase(Robot):
     """
-    [SO-100 Follower Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
+    Generic SO follower base implementing common functionality for SO-100/101/10X.
+    Designed to be subclassed with a per-hardware-model `config_class` and `name`.
     """
 
-    config_class = SO100FollowerConfig
-    name = "so100_follower"
+    # `config_class` and `name` should be set by subclasses
 
-    def __init__(self, config: SO100FollowerConfig):
+    def __init__(self, config: SOFollowerConfigBase):
         super().__init__(config)
         self.config = config
+        # choose normalization mode depending on config if available
         norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
         self.bus = FeetechMotorsBus(
             port=self.config.port,
@@ -126,6 +127,7 @@ class SO100Follower(Robot):
         input(f"Move {self} to the middle of its range of motion and press ENTER....")
         homing_offsets = self.bus.set_half_turn_homings()
 
+        # Attempt to call record_ranges_of_motion with a reduced motor set when appropriate.
         full_turn_motor = "wrist_roll"
         unknown_range_motors = [motor for motor in self.bus.motors if motor != full_turn_motor]
         print(

src/lerobot/robots/so_follower/so_follower_config_base.py

@@ -21,9 +21,10 @@ from lerobot.cameras import CameraConfig
 from ..config import RobotConfig
 
 
-@RobotConfig.register_subclass("so101_follower")
 @dataclass
-class SO101FollowerConfig(RobotConfig):
+class SOFollowerConfigBase(RobotConfig):
+    """Base configuration class for SO Follower robots."""
+
     # Port to connect to the arm
     port: str
 

src/lerobot/robots/utils.py

@@ -33,11 +33,11 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
 
         return OmxFollower(config)
     elif config.type == "so100_follower":
-        from .so100_follower import SO100Follower
+        from .so_follower import SO100Follower
 
         return SO100Follower(config)
     elif config.type == "so101_follower":
-        from .so101_follower import SO101Follower
+        from .so_follower import SO101Follower
 
         return SO101Follower(config)
     elif config.type == "lekiwi":

src/lerobot/scripts/lerobot_calibrate.py

@@ -41,8 +41,7 @@ from lerobot.robots import (  # noqa: F401
     lekiwi,
     make_robot_from_config,
     omx_follower,
-    so100_follower,
-    so101_follower,
+    so_follower,
 )
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
@@ -51,8 +50,7 @@ from lerobot.teleoperators import (  # noqa: F401
     koch_leader,
     make_teleoperator_from_config,
     omx_leader,
-    so100_leader,
-    so101_leader,
+    so_leader,
 )
 from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.utils import init_logging

src/lerobot/scripts/lerobot_find_joint_limits.py

@@ -47,8 +47,7 @@ from lerobot.robots import (  # noqa: F401
     koch_follower,
     make_robot_from_config,
     omx_follower,
-    so100_follower,
-    so101_follower,
+    so_follower,
 )
 from lerobot.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
@@ -56,8 +55,7 @@ from lerobot.teleoperators import (  # noqa: F401
     koch_leader,
     make_teleoperator_from_config,
     omx_leader,
-    so100_leader,
-    so101_leader,
+    so_leader,
 )
 from lerobot.utils.robot_utils import precise_sleep
 

src/lerobot/scripts/lerobot_record.py

@@ -98,8 +98,7 @@ from lerobot.robots import (  # noqa: F401
     koch_follower,
     make_robot_from_config,
     omx_follower,
-    so100_follower,
-    so101_follower,
+    so_follower,
 )
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
@@ -109,8 +108,7 @@ from lerobot.teleoperators import (  # noqa: F401
     koch_leader,
     make_teleoperator_from_config,
     omx_leader,
-    so100_leader,
-    so101_leader,
+    so_leader,
 )
 from lerobot.teleoperators.keyboard.teleop_keyboard import KeyboardTeleop
 from lerobot.utils.constants import ACTION, OBS_STR
@@ -282,8 +280,8 @@ def record_loop(
                 if isinstance(
                     t,
                     (
-                        so100_leader.SO100Leader
-                        | so101_leader.SO101Leader
+                        so_leader.SO100Leader
+                        | so_leader.SO101Leader
                         | koch_leader.KochLeader
                         | omx_leader.OmxLeader
                     ),

src/lerobot/scripts/lerobot_replay.py

@@ -59,8 +59,7 @@ from lerobot.robots import (  # noqa: F401
     koch_follower,
     make_robot_from_config,
     omx_follower,
-    so100_follower,
-    so101_follower,
+    so_follower,
 )
 from lerobot.utils.constants import ACTION
 from lerobot.utils.import_utils import register_third_party_plugins

src/lerobot/scripts/lerobot_setup_motors.py

@@ -34,16 +34,14 @@ from lerobot.robots import (  # noqa: F401
     lekiwi,
     make_robot_from_config,
     omx_follower,
-    so100_follower,
-    so101_follower,
+    so_follower,
 )
 from lerobot.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
     koch_leader,
     make_teleoperator_from_config,
     omx_leader,
-    so100_leader,
-    so101_leader,
+    so_leader,
 )
 
 COMPATIBLE_DEVICES = [

src/lerobot/scripts/lerobot_teleoperate.py

@@ -76,8 +76,7 @@ from lerobot.robots import (  # noqa: F401
     koch_follower,
     make_robot_from_config,
     omx_follower,
-    so100_follower,
-    so101_follower,
+    so_follower,
 )
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
@@ -89,8 +88,7 @@ from lerobot.teleoperators import (  # noqa: F401
     koch_leader,
     make_teleoperator_from_config,
     omx_leader,
-    so100_leader,
-    so101_leader,
+    so_leader,
 )
 from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.robot_utils import precise_sleep

src/lerobot/teleoperators/bi_so100_leader/bi_so100_leader.py

@@ -17,8 +17,7 @@
 import logging
 from functools import cached_property
 
-from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
-from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
+from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
 
 from ..teleoperator import Teleoperator
 from .config_bi_so100_leader import BiSO100LeaderConfig

src/lerobot/teleoperators/so100_leader/so100_leader.py

@@ -1,159 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import logging
-import time
-
-from lerobot.motors import Motor, MotorCalibration, MotorNormMode
-from lerobot.motors.feetech import (
-    FeetechMotorsBus,
-    OperatingMode,
-)
-from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
-
-from ..teleoperator import Teleoperator
-from .config_so100_leader import SO100LeaderConfig
-
-logger = logging.getLogger(__name__)
-
-
-class SO100Leader(Teleoperator):
-    """
-    [SO-100 Leader Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
-    """
-
-    config_class = SO100LeaderConfig
-    name = "so100_leader"
-
-    def __init__(self, config: SO100LeaderConfig):
-        super().__init__(config)
-        self.config = config
-        self.bus = FeetechMotorsBus(
-            port=self.config.port,
-            motors={
-                "shoulder_pan": Motor(1, "sts3215", MotorNormMode.RANGE_M100_100),
-                "shoulder_lift": Motor(2, "sts3215", MotorNormMode.RANGE_M100_100),
-                "elbow_flex": Motor(3, "sts3215", MotorNormMode.RANGE_M100_100),
-                "wrist_flex": Motor(4, "sts3215", MotorNormMode.RANGE_M100_100),
-                "wrist_roll": Motor(5, "sts3215", MotorNormMode.RANGE_M100_100),
-                "gripper": Motor(6, "sts3215", MotorNormMode.RANGE_0_100),
-            },
-            calibration=self.calibration,
-        )
-
-    @property
-    def action_features(self) -> dict[str, type]:
-        return {f"{motor}.pos": float for motor in self.bus.motors}
-
-    @property
-    def feedback_features(self) -> dict[str, type]:
-        return {}
-
-    @property
-    def is_connected(self) -> bool:
-        return self.bus.is_connected
-
-    def connect(self, calibrate: bool = True) -> None:
-        if self.is_connected:
-            raise DeviceAlreadyConnectedError(f"{self} already connected")
-
-        self.bus.connect()
-        if not self.is_calibrated and calibrate:
-            logger.info(
-                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
-            )
-            self.calibrate()
-
-        self.configure()
-        logger.info(f"{self} connected.")
-
-    @property
-    def is_calibrated(self) -> bool:
-        return self.bus.is_calibrated
-
-    def calibrate(self) -> None:
-        if self.calibration:
-            # Calibration file exists, ask user whether to use it or run new calibration
-            user_input = input(
-                f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
-            )
-            if user_input.strip().lower() != "c":
-                logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
-                self.bus.write_calibration(self.calibration)
-                return
-
-        logger.info(f"\nRunning calibration of {self}")
-        self.bus.disable_torque()
-        for motor in self.bus.motors:
-            self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
-
-        input(f"Move {self} to the middle of its range of motion and press ENTER....")
-        homing_offsets = self.bus.set_half_turn_homings()
-
-        full_turn_motor = "wrist_roll"
-        unknown_range_motors = [motor for motor in self.bus.motors if motor != full_turn_motor]
-        print(
-            f"Move all joints except '{full_turn_motor}' sequentially through their "
-            "entire ranges of motion.\nRecording positions. Press ENTER to stop..."
-        )
-        range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
-        range_mins[full_turn_motor] = 0
-        range_maxes[full_turn_motor] = 4095
-
-        self.calibration = {}
-        for motor, m in self.bus.motors.items():
-            self.calibration[motor] = MotorCalibration(
-                id=m.id,
-                drive_mode=0,
-                homing_offset=homing_offsets[motor],
-                range_min=range_mins[motor],
-                range_max=range_maxes[motor],
-            )
-
-        self.bus.write_calibration(self.calibration)
-        self._save_calibration()
-        print(f"Calibration saved to {self.calibration_fpath}")
-
-    def configure(self) -> None:
-        self.bus.disable_torque()
-        self.bus.configure_motors()
-        for motor in self.bus.motors:
-            self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
-
-    def setup_motors(self) -> None:
-        for motor in reversed(self.bus.motors):
-            input(f"Connect the controller board to the '{motor}' motor only and press enter.")
-            self.bus.setup_motor(motor)
-            print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
-
-    def get_action(self) -> dict[str, float]:
-        start = time.perf_counter()
-        action = self.bus.sync_read("Present_Position")
-        action = {f"{motor}.pos": val for motor, val in action.items()}
-        dt_ms = (time.perf_counter() - start) * 1e3
-        logger.debug(f"{self} read action: {dt_ms:.1f}ms")
-        return action
-
-    def send_feedback(self, feedback: dict[str, float]) -> None:
-        # TODO(rcadene, aliberts): Implement force feedback
-        raise NotImplementedError
-
-    def disconnect(self) -> None:
-        if not self.is_connected:
-            DeviceNotConnectedError(f"{self} is not connected.")
-
-        self.bus.disconnect()
-        logger.info(f"{self} disconnected.")

src/lerobot/teleoperators/so_leader/__init__.py

@@ -0,0 +1,22 @@
+#!/usr/bin/env python
+
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from .so100_leader.config_so100_leader import SO100LeaderConfig
+from .so100_leader.so100_leader import SO100Leader
+from .so101_leader.config_so101_leader import SO101LeaderConfig
+from .so101_leader.so101_leader import SO101Leader
+from .so_leader_base import SOLeaderBase
+from .so_leader_config_base import SOLeaderConfigBase

src/lerobot/teleoperators/so_leader/so100_leader/config_so100_leader.py

@@ -16,11 +16,11 @@
 
 from dataclasses import dataclass
 
-from ..config import TeleoperatorConfig
+from ...config import TeleoperatorConfig
+from ..so_leader_config_base import SOLeaderConfigBase
 
 
 @TeleoperatorConfig.register_subclass("so100_leader")
 @dataclass
-class SO100LeaderConfig(TeleoperatorConfig):
-    # Port to connect to the arm
-    port: str
+class SO100LeaderConfig(SOLeaderConfigBase):
+    pass

src/lerobot/teleoperators/so_leader/so100_leader/so100.md

@@ -0,0 +1 @@
+../../../../../docs/source/so100.mdx

src/lerobot/teleoperators/so_leader/so100_leader/so100_leader.py

@@ -0,0 +1,27 @@
+# !/usr/bin/env python
+
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ..so_leader_base import SOLeaderBase
+from .config_so100_leader import SO100LeaderConfig
+
+
+class SO100Leader(SOLeaderBase):
+    """
+    SO-101 leader robot class. [SO-101 Leader Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
+    """
+
+    config_class = SO100LeaderConfig
+    name = "so100_leader"

src/lerobot/teleoperators/so_leader/so101_leader/config_so101_leader.py

@@ -16,13 +16,11 @@
 
 from dataclasses import dataclass
 
-from ..config import TeleoperatorConfig
+from ...config import TeleoperatorConfig
+from ..so_leader_config_base import SOLeaderConfigBase
 
 
 @TeleoperatorConfig.register_subclass("so101_leader")
 @dataclass
-class SO101LeaderConfig(TeleoperatorConfig):
-    # Port to connect to the arm
-    port: str
-
-    use_degrees: bool = False
+class SO101LeaderConfig(SOLeaderConfigBase):
+    pass

src/lerobot/teleoperators/so_leader/so101_leader/so101.md

@@ -0,0 +1 @@
+../../../../../docs/source/so101.mdx

src/lerobot/teleoperators/so_leader/so101_leader/so101_leader.py

@@ -0,0 +1,27 @@
+# !/usr/bin/env python
+
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ..so_leader_base import SOLeaderBase
+from .config_so101_leader import SO101LeaderConfig
+
+
+class SO101Leader(SOLeaderBase):
+    """
+    SO-101 leader robot class. [SO-101 Leader Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
+    """
+
+    config_class = SO101LeaderConfig
+    name = "so101_leader"

src/lerobot/teleoperators/so_leader/so_leader_base.py

@@ -1,6 +1,6 @@
-#!/usr/bin/env python
+# !/usr/bin/env python
 
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -25,20 +25,15 @@ from lerobot.motors.feetech import (
 from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..teleoperator import Teleoperator
-from .config_so101_leader import SO101LeaderConfig
+from .so_leader_config_base import SOLeaderConfigBase
 
 logger = logging.getLogger(__name__)
 
 
-class SO101Leader(Teleoperator):
-    """
-    SO-101 Leader Arm designed by TheRobotStudio and Hugging Face.
-    """
+class SOLeaderBase(Teleoperator):
+    """Generic SO leader base for SO-100/101/10X teleoperators."""
 
-    config_class = SO101LeaderConfig
-    name = "so101_leader"
-
-    def __init__(self, config: SO101LeaderConfig):
+    def __init__(self, config: SOLeaderConfigBase):
         super().__init__(config)
         self.config = config
         norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
@@ -104,11 +99,15 @@ class SO101Leader(Teleoperator):
         input(f"Move {self} to the middle of its range of motion and press ENTER....")
         homing_offsets = self.bus.set_half_turn_homings()
 
+        full_turn_motor = "wrist_roll"
+        unknown_range_motors = [motor for motor in self.bus.motors if motor != full_turn_motor]
         print(
-            "Move all joints sequentially through their entire ranges "
-            "of motion.\nRecording positions. Press ENTER to stop..."
+            f"Move all joints except '{full_turn_motor}' sequentially through their "
+            "entire ranges of motion.\nRecording positions. Press ENTER to stop..."
         )
-        range_mins, range_maxes = self.bus.record_ranges_of_motion()
+        range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
+        range_mins[full_turn_motor] = 0
+        range_maxes[full_turn_motor] = 4095
 
         self.calibration = {}
         for motor, m in self.bus.motors.items():
@@ -145,7 +144,7 @@ class SO101Leader(Teleoperator):
         return action
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        # TODO(rcadene, aliberts): Implement force feedback
+        # TODO: Implement force feedback
         raise NotImplementedError
 
     def disconnect(self) -> None:

src/lerobot/teleoperators/so_leader/so_leader_config_base.py

@@ -14,5 +14,17 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .config_so100_follower import SO100FollowerConfig
-from .so100_follower import SO100Follower
+from dataclasses import dataclass
+
+from ..config import TeleoperatorConfig
+
+
+@dataclass
+class SOLeaderConfigBase(TeleoperatorConfig):
+    """Base configuration class for SO Leader teleoperators."""
+
+    # Port to connect to the arm
+    port: str
+
+    # Whether to use degrees for angles
+    use_degrees: bool = False

src/lerobot/teleoperators/utils.py

@@ -46,11 +46,11 @@ def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
 
         return OmxLeader(config)
     elif config.type == "so100_leader":
-        from .so100_leader import SO100Leader
+        from .so_leader import SO100Leader
 
         return SO100Leader(config)
     elif config.type == "so101_leader":
-        from .so101_leader import SO101Leader
+        from .so_leader import SO101Leader
 
         return SO101Leader(config)
     elif config.type == "mock_teleop":

tests/robots/test_so100_follower.py

@@ -19,7 +19,7 @@ from unittest.mock import MagicMock, patch
 
 import pytest
 
-from lerobot.robots.so100_follower import (
+from lerobot.robots.so_follower import (
     SO100Follower,
     SO100FollowerConfig,
 )
@@ -66,7 +66,7 @@ def follower():
 
     with (
         patch(
-            "lerobot.robots.so100_follower.so100_follower.FeetechMotorsBus",
+            "lerobot.robots.so_follower.so_follower_base.FeetechMotorsBus",
             side_effect=_bus_side_effect,
         ),
         patch.object(SO100Follower, "configure", lambda self: None),