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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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src/lerobot/scripts/lerobot_record.py
+15 -13
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@@ -40,21 +40,23 @@ lerobot-record \
Example recording with bimanual so100:
```shell
lerobot-record \
--robot.type=bi_so100_follower \
--robot.left_arm_port=/dev/tty.usbmodem5A460851411 \
--robot.right_arm_port=/dev/tty.usbmodem5A460812391 \
--robot.type=bi_so_follower \
--robot.left_arm_config.port=/dev/tty.usbmodem5A460822851 \
--robot.right_arm_config.port=/dev/tty.usbmodem5A460814411 \
--robot.id=bimanual_follower \
--robot.cameras='{
left: {"type": "opencv", "index_or_path": 0, "width": 640, "height": 480, "fps": 30},
top: {"type": "opencv", "index_or_path": 1, "width": 640, "height": 480, "fps": 30},
right: {"type": "opencv", "index_or_path": 2, "width": 640, "height": 480, "fps": 30}
--robot.left_arm_config.cameras='{
wrist: {"type": "opencv", "index_or_path": 1, "width": 640, "height": 480, "fps": 30},
top: {"type": "opencv", "index_or_path": 3, "width": 640, "height": 480, "fps": 30},
}' --robot.right_arm_config.cameras='{
wrist: {"type": "opencv", "index_or_path": 2, "width": 640, "height": 480, "fps": 30},
front: {"type": "opencv", "index_or_path": 4, "width": 640, "height": 480, "fps": 30},
}' \
--teleop.type=bi_so100_leader \
--teleop.left_arm_port=/dev/tty.usbmodem5A460828611 \
--teleop.right_arm_port=/dev/tty.usbmodem5A460826981 \
--teleop.type=bi_so_leader \
--teleop.left_arm_config.port=/dev/tty.usbmodem5A460852721 \
--teleop.right_arm_config.port=/dev/tty.usbmodem5A460819811 \
--teleop.id=bimanual_leader \
--display_data=true \
--dataset.repo_id=${HF_USER}/bimanual-so100-handover-cube \
--dataset.repo_id=${HF_USER}/bimanual-so-handover-cube \
--dataset.num_episodes=25 \
--dataset.single_task="Grab and handover the red cube to the other arm"
```
@@ -94,7 +96,7 @@ from lerobot.processor.rename_processor import rename_stats
from lerobot.robots import ( # noqa: F401
Robot,
RobotConfig,
bi_so100_follower,
bi_so_follower,
earthrover_mini_plus,
hope_jr,
koch_follower,
@@ -105,7 +107,7 @@ from lerobot.robots import ( # noqa: F401
from lerobot.teleoperators import ( # noqa: F401
Teleoperator,
TeleoperatorConfig,
bi_so100_leader,
bi_so_leader,
homunculus,
koch_leader,
make_teleoperator_from_config,