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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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examples/rtc/eval_with_real_robot.py
+1
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@@ -94,6 +94,7 @@ from lerobot.rl.process import ProcessSignalHandler
from lerobot.robots import ( # noqa: F401
Robot,
RobotConfig,
bi_so_follower,
koch_follower,
so_follower,
)
examples/so100_to_so100_EE/record.py
+1 -2
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@@ -34,8 +34,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
InverseKinematicsEEToJoints,
)
from lerobot.scripts.lerobot_record import record_loop
from lerobot.teleoperators.so_leader import SO100LeaderConfig
from lerobot.teleoperators.so_leader.so100_leader import SO100Leader
from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
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/teleoperate.py
+1 -2
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@@ -29,8 +29,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
ForwardKinematicsJointsToEE,
InverseKinematicsEEToJoints,
)
from lerobot.teleoperators.so_leader import SO100LeaderConfig
from lerobot.teleoperators.so_leader.so100_leader import SO100Leader
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