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feat(robots): consolidates bi SO setups (#2780)

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* feat(robots): consolidates bi SO setups

* fix(robots): solve circular dependecy

* fix(robots): teleop & record working

* feat(robots): only one SO

* fix(utils): rename bi so

* fix(scripts): bi so import

* fix(rl): remove imports
This commit is contained in:
Steven Palma
2026-01-12 16:01:22 +01:00
committed by GitHub
parent 473f1bd0e0
commit d791a431fe
44 changed files with 199 additions and 387 deletions
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docs/source/envhub_leisaac.mdx
+1
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@@ -138,6 +138,7 @@ from lerobot.teleoperators import ( # noqa: F401
TeleoperatorConfig,
make_teleoperator_from_config,
so_leader,
bi_so_leader,
)
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import init_logging
docs/source/groot.mdx
+1 -1
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@@ -109,7 +109,7 @@ Once you have trained your model using your parameters you can run inference in
```bash
lerobot-record \
--robot.type=bi_so100_follower \
--robot.type=bi_so_follower \
--robot.left_arm_port=/dev/ttyACM1 \
--robot.right_arm_port=/dev/ttyACM0 \
--robot.id=bimanual_follower \