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

* 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

docs/source/envhub_leisaac.mdx

@@ -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

@@ -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 \

examples/rtc/eval_with_real_robot.py

@@ -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

@@ -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 import SO100Leader, 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/teleoperate.py

@@ -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 import SO100Leader, 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
 

src/lerobot/async_inference/constants.py

@@ -26,4 +26,4 @@ DEFAULT_OBS_QUEUE_TIMEOUT = 2
 SUPPORTED_POLICIES = ["act", "smolvla", "diffusion", "tdmpc", "vqbet", "pi0", "pi05"]
 
 # TODO: Add all other robots
-SUPPORTED_ROBOTS = ["so100_follower", "so101_follower", "bi_so100_follower", "omx_follower"]
+SUPPORTED_ROBOTS = ["so100_follower", "so101_follower", "bi_so_follower", "omx_follower"]

src/lerobot/async_inference/robot_client.py

@@ -51,7 +51,7 @@ from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraCon
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
-    bi_so100_follower,
+    bi_so_follower,
     koch_follower,
     make_robot_from_config,
     omx_follower,

src/lerobot/robots/bi_so100_follower/config_bi_so100_follower.py

@@ -1,39 +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("bi_so100_follower")
-@dataclass
-class BiSO100FollowerConfig(RobotConfig):
-    left_arm_port: str
-    right_arm_port: str
-
-    # Optional
-    left_arm_disable_torque_on_disconnect: bool = True
-    left_arm_max_relative_target: float | dict[str, float] | None = None
-    left_arm_use_degrees: bool = False
-    right_arm_disable_torque_on_disconnect: bool = True
-    right_arm_max_relative_target: float | dict[str, float] | None = None
-    right_arm_use_degrees: bool = False
-
-    # cameras (shared between both arms)
-    cameras: dict[str, CameraConfig] = field(default_factory=dict)

src/lerobot/robots/bi_so_follower/__init__.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 +14,5 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .bi_so100_leader import BiSO100Leader
+from .bi_so_follower import BiSOFollower
-from .config_bi_so100_leader import BiSO100LeaderConfig
+from .config_bi_so_follower import BiSOFollowerConfig

src/lerobot/robots/bi_so_follower/bi_so_follower.py

@@ -15,66 +15,73 @@
 # 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.robots.so_follower import SOFollower, SOFollowerRobotConfig
-from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 
 from ..robot import Robot
-from .config_bi_so100_follower import BiSO100FollowerConfig
+from .config_bi_so_follower import BiSOFollowerConfig
 
 logger = logging.getLogger(__name__)
 
 
-class BiSO100Follower(Robot):
+class BiSOFollower(Robot):
     """
-    [Bimanual SO-100 Follower Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
+    [Bimanual SO Follower Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
-    This bimanual robot can also be easily adapted to use SO-101 follower arms, just replace the SO100Follower class with SO101Follower and SO100FollowerConfig with SO101FollowerConfig.
     """
 
-    config_class = BiSO100FollowerConfig
+    config_class = BiSOFollowerConfig
-    name = "bi_so100_follower"
+    name = "bi_so_follower"
 
-    def __init__(self, config: BiSO100FollowerConfig):
+    def __init__(self, config: BiSOFollowerConfig):
         super().__init__(config)
         self.config = config
 
-        left_arm_config = SO100FollowerConfig(
+        left_arm_config = SOFollowerRobotConfig(
             id=f"{config.id}_left" if config.id else None,
             calibration_dir=config.calibration_dir,
-            port=config.left_arm_port,
+            port=config.left_arm_config.port,
-            disable_torque_on_disconnect=config.left_arm_disable_torque_on_disconnect,
+            disable_torque_on_disconnect=config.left_arm_config.disable_torque_on_disconnect,
-            max_relative_target=config.left_arm_max_relative_target,
+            max_relative_target=config.left_arm_config.max_relative_target,
-            use_degrees=config.left_arm_use_degrees,
+            use_degrees=config.left_arm_config.use_degrees,
-            cameras={},
+            cameras=config.left_arm_config.cameras,
         )
 
-        right_arm_config = SO100FollowerConfig(
+        right_arm_config = SOFollowerRobotConfig(
             id=f"{config.id}_right" if config.id else None,
             calibration_dir=config.calibration_dir,
-            port=config.right_arm_port,
+            port=config.right_arm_config.port,
-            disable_torque_on_disconnect=config.right_arm_disable_torque_on_disconnect,
+            disable_torque_on_disconnect=config.right_arm_config.disable_torque_on_disconnect,
-            max_relative_target=config.right_arm_max_relative_target,
+            max_relative_target=config.right_arm_config.max_relative_target,
-            use_degrees=config.right_arm_use_degrees,
+            use_degrees=config.right_arm_config.use_degrees,
-            cameras={},
+            cameras=config.right_arm_config.cameras,
         )
 
-        self.left_arm = SO100Follower(left_arm_config)
+        self.left_arm = SOFollower(left_arm_config)
-        self.right_arm = SO100Follower(right_arm_config)
+        self.right_arm = SOFollower(right_arm_config)
-        self.cameras = make_cameras_from_configs(config.cameras)
+
+        # Only for compatibility with other parts of the codebase that expect a `robot.cameras` attribute
+        self.cameras = {**self.left_arm.cameras, **self.right_arm.cameras}
 
     @property
     def _motors_ft(self) -> dict[str, type]:
-        return {f"left_{motor}.pos": float for motor in self.left_arm.bus.motors} | {
+        left_arm_motors_ft = self.left_arm._motors_ft
-            f"right_{motor}.pos": float for motor in self.right_arm.bus.motors
+        right_arm_motors_ft = self.right_arm._motors_ft
+
+        return {
+            **{f"left_{k}": v for k, v in left_arm_motors_ft.items()},
+            **{f"right_{k}": v for k, v in right_arm_motors_ft.items()},
         }
 
     @property
     def _cameras_ft(self) -> dict[str, tuple]:
+        left_arm_cameras_ft = self.left_arm._cameras_ft
+        right_arm_cameras_ft = self.right_arm._cameras_ft
+
         return {
-            cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
+            **{f"left_{k}": v for k, v in left_arm_cameras_ft.items()},
+            **{f"right_{k}": v for k, v in right_arm_cameras_ft.items()},
         }
 
     @cached_property
@@ -87,19 +94,12 @@ class BiSO100Follower(Robot):
 
     @property
     def is_connected(self) -> bool:
-        return (
+        return self.left_arm.is_connected and self.right_arm.is_connected
-            self.left_arm.bus.is_connected
-            and self.right_arm.bus.is_connected
-            and all(cam.is_connected for cam in self.cameras.values())
-        )
 
     def connect(self, calibrate: bool = True) -> None:
         self.left_arm.connect(calibrate)
         self.right_arm.connect(calibrate)
 
-        for cam in self.cameras.values():
-            cam.connect()
-
     @property
     def is_calibrated(self) -> bool:
         return self.left_arm.is_calibrated and self.right_arm.is_calibrated
@@ -127,12 +127,6 @@ class BiSO100Follower(Robot):
         right_obs = self.right_arm.get_observation()
         obs_dict.update({f"right_{key}": value for key, value in right_obs.items()})
 
-        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]:
@@ -145,18 +139,15 @@ class BiSO100Follower(Robot):
             key.removeprefix("right_"): value for key, value in action.items() if key.startswith("right_")
         }
 
-        send_action_left = self.left_arm.send_action(left_action)
+        sent_action_left = self.left_arm.send_action(left_action)
-        send_action_right = self.right_arm.send_action(right_action)
+        sent_action_right = self.right_arm.send_action(right_action)
 
         # Add prefixes back
-        prefixed_send_action_left = {f"left_{key}": value for key, value in send_action_left.items()}
+        prefixed_sent_action_left = {f"left_{key}": value for key, value in sent_action_left.items()}
-        prefixed_send_action_right = {f"right_{key}": value for key, value in send_action_right.items()}
+        prefixed_sent_action_right = {f"right_{key}": value for key, value in sent_action_right.items()}
 
-        return {**prefixed_send_action_left, **prefixed_send_action_right}
+        return {**prefixed_sent_action_left, **prefixed_sent_action_right}
 
     def disconnect(self):
         self.left_arm.disconnect()
         self.right_arm.disconnect()
-
-        for cam in self.cameras.values():
-            cam.disconnect()

src/lerobot/robots/bi_so_follower/config_bi_so_follower.py

@@ -16,11 +16,15 @@
 
 from dataclasses import dataclass
 
-from ...config import TeleoperatorConfig
+from lerobot.robots.so_follower import SOFollowerConfig
-from ..so_leader_config_base import SOLeaderConfigBase
+
+from ..config import RobotConfig
 
 
-@TeleoperatorConfig.register_subclass("so101_leader")
+@RobotConfig.register_subclass("bi_so_follower")
 @dataclass
-class SO101LeaderConfig(SOLeaderConfigBase):
+class BiSOFollowerConfig(RobotConfig):
-    pass
+    """Configuration class for Bi SO Follower robots."""
+
+    left_arm_config: SOFollowerConfig
+    right_arm_config: SOFollowerConfig

src/lerobot/robots/so_follower/__init__.py

@@ -14,10 +14,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-
+from .config_so_follower import (
-from .so100_follower.config_so100_follower import SO100FollowerConfig
+    SO100FollowerConfig,
-from .so100_follower.so100_follower import SO100Follower
+    SO101FollowerConfig,
-from .so101_follower.config_so101_follower import SO101FollowerConfig
+    SOFollowerConfig,
-from .so101_follower.so101_follower import SO101Follower
+    SOFollowerRobotConfig,
-from .so_follower_base import SOFollowerBase
+)
-from .so_follower_config_base import SOFollowerConfigBase
+from .so_follower import SO100Follower, SO101Follower, SOFollower

src/lerobot/robots/so_follower/config_so_follower.py

@@ -15,6 +15,7 @@
 # limitations under the License.
 
 from dataclasses import dataclass, field
+from typing import TypeAlias
 
 from lerobot.cameras import CameraConfig
 
@@ -22,7 +23,7 @@ from ..config import RobotConfig
 
 
 @dataclass
-class SOFollowerConfigBase(RobotConfig):
+class SOFollowerConfig:
     """Base configuration class for SO Follower robots."""
 
     # Port to connect to the arm
@@ -40,3 +41,14 @@ class SOFollowerConfigBase(RobotConfig):
 
     # Set to `True` for backward compatibility with previous policies/dataset
     use_degrees: bool = False
+
+
+@RobotConfig.register_subclass("so101_follower")
+@RobotConfig.register_subclass("so100_follower")
+@dataclass
+class SOFollowerRobotConfig(RobotConfig, SOFollowerConfig):
+    pass
+
+
+SO100FollowerConfig: TypeAlias = SOFollowerRobotConfig
+SO101FollowerConfig: TypeAlias = SOFollowerRobotConfig

src/lerobot/robots/so_follower/so100.md

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

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

@@ -1,26 +0,0 @@
-#!/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 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

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

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

@@ -1,27 +0,0 @@
-#!/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.md

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

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

@@ -1,26 +0,0 @@
-#!/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 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

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

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

@@ -1,27 +0,0 @@
-#!/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_so101_follower import SO101FollowerConfig
-
-
-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.py

@@ -17,7 +17,7 @@
 import logging
 import time
 from functools import cached_property
-from typing import Any
+from typing import Any, TypeAlias
 
 from lerobot.cameras.utils import make_cameras_from_configs
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
@@ -29,20 +29,21 @@ from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnected
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position
-from .so_follower_config_base import SOFollowerConfigBase
+from .config_so_follower import SOFollowerRobotConfig
 
 logger = logging.getLogger(__name__)
 
 
-class SOFollowerBase(Robot):
+class SOFollower(Robot):
     """
     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` and `name` should be set by subclasses
+    config_class = SOFollowerRobotConfig
+    name = "so_follower"
 
-    def __init__(self, config: SOFollowerConfigBase):
+    def __init__(self, config: SOFollowerRobotConfig):
         super().__init__(config)
         self.config = config
         # choose normalization mode depending on config if available
@@ -232,3 +233,7 @@ class SOFollowerBase(Robot):
             cam.disconnect()
 
         logger.info(f"{self} disconnected.")
+
+
+SO100Follower: TypeAlias = SOFollower
+SO101Follower: TypeAlias = SOFollower

src/lerobot/robots/utils.py

@@ -52,10 +52,10 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
         from .hope_jr import HopeJrArm
 
         return HopeJrArm(config)
-    elif config.type == "bi_so100_follower":
+    elif config.type == "bi_so_follower":
-        from .bi_so100_follower import BiSO100Follower
+        from .bi_so_follower import BiSOFollower
 
-        return BiSO100Follower(config)
+        return BiSOFollower(config)
     elif config.type == "reachy2":
         from .reachy2 import Reachy2Robot
 

src/lerobot/scripts/lerobot_calibrate.py

@@ -36,6 +36,7 @@ from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraCon
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
+    bi_so_follower,
     hope_jr,
     koch_follower,
     lekiwi,
@@ -46,6 +47,7 @@ from lerobot.robots import (  # noqa: F401
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
     TeleoperatorConfig,
+    bi_so_leader,
     homunculus,
     koch_leader,
     make_teleoperator_from_config,

src/lerobot/scripts/lerobot_find_joint_limits.py

@@ -44,6 +44,7 @@ import numpy as np
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.robots import (  # noqa: F401
     RobotConfig,
+    bi_so_follower,
     koch_follower,
     make_robot_from_config,
     omx_follower,
@@ -51,6 +52,7 @@ from lerobot.robots import (  # noqa: F401
 )
 from lerobot.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
+    bi_so_leader,
     gamepad,
     koch_leader,
     make_teleoperator_from_config,

src/lerobot/scripts/lerobot_record.py

@@ -40,21 +40,23 @@ lerobot-record \
 Example recording with bimanual so100:
 ```shell
 lerobot-record \
-  --robot.type=bi_so100_follower \
+  --robot.type=bi_so_follower \
-  --robot.left_arm_port=/dev/tty.usbmodem5A460851411 \
+  --robot.left_arm_config.port=/dev/tty.usbmodem5A460822851 \
-  --robot.right_arm_port=/dev/tty.usbmodem5A460812391 \
+  --robot.right_arm_config.port=/dev/tty.usbmodem5A460814411 \
   --robot.id=bimanual_follower \
-  --robot.cameras='{
+  --robot.left_arm_config.cameras='{
-    left: {"type": "opencv", "index_or_path": 0, "width": 640, "height": 480, "fps": 30},
+    wrist: {"type": "opencv", "index_or_path": 1, "width": 640, "height": 480, "fps": 30},
-    top: {"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},
-    right: {"type": "opencv", "index_or_path": 2, "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.type=bi_so_leader \
-  --teleop.left_arm_port=/dev/tty.usbmodem5A460828611 \
+  --teleop.left_arm_config.port=/dev/tty.usbmodem5A460852721 \
-  --teleop.right_arm_port=/dev/tty.usbmodem5A460826981 \
+  --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,

src/lerobot/scripts/lerobot_replay.py

@@ -29,7 +29,7 @@ lerobot-replay \
 Example replay with bimanual so100:
 ```shell
 lerobot-replay \
-  --robot.type=bi_so100_follower \
+  --robot.type=bi_so_follower \
   --robot.left_arm_port=/dev/tty.usbmodem5A460851411 \
   --robot.right_arm_port=/dev/tty.usbmodem5A460812391 \
   --robot.id=bimanual_follower \
@@ -53,7 +53,7 @@ from lerobot.processor import (
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
-    bi_so100_follower,
+    bi_so_follower,
     earthrover_mini_plus,
     hope_jr,
     koch_follower,

src/lerobot/scripts/lerobot_setup_motors.py

@@ -30,6 +30,7 @@ import draccus
 
 from lerobot.robots import (  # noqa: F401
     RobotConfig,
+    bi_so_follower,
     koch_follower,
     lekiwi,
     make_robot_from_config,
@@ -38,6 +39,7 @@ from lerobot.robots import (  # noqa: F401
 )
 from lerobot.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
+    bi_so_leader,
     koch_leader,
     make_teleoperator_from_config,
     omx_leader,

src/lerobot/scripts/lerobot_teleoperate.py

@@ -33,18 +33,18 @@ Example teleoperation with bimanual so100:
 
 ```shell
 lerobot-teleoperate \
-  --robot.type=bi_so100_follower \
+  --robot.type=bi_so_follower \
-  --robot.left_arm_port=/dev/tty.usbmodem5A460851411 \
+  --robot.left_arm_config.port=/dev/tty.usbmodem5A460822851 \
-  --robot.right_arm_port=/dev/tty.usbmodem5A460812391 \
+  --robot.right_arm_config.port=/dev/tty.usbmodem5A460814411 \
   --robot.id=bimanual_follower \
-  --robot.cameras='{
+  --robot.left_arm_config.cameras='{
-    left: {"type": "opencv", "index_or_path": 0, "width": 1920, "height": 1080, "fps": 30},
+    wrist: {"type": "opencv", "index_or_path": 1, "width": 640, "height": 480, "fps": 30},
-    top: {"type": "opencv", "index_or_path": 1, "width": 1920, "height": 1080, "fps": 30},
+  }' --robot.right_arm_config.cameras='{
-    right: {"type": "opencv", "index_or_path": 2, "width": 1920, "height": 1080, "fps": 30}
+    wrist: {"type": "opencv", "index_or_path": 2, "width": 640, "height": 480, "fps": 30},
   }' \
-  --teleop.type=bi_so100_leader \
+  --teleop.type=bi_so_leader \
-  --teleop.left_arm_port=/dev/tty.usbmodem5A460828611 \
+  --teleop.left_arm_config.port=/dev/tty.usbmodem5A460852721 \
-  --teleop.right_arm_port=/dev/tty.usbmodem5A460826981 \
+  --teleop.right_arm_config.port=/dev/tty.usbmodem5A460819811 \
   --teleop.id=bimanual_leader \
   --display_data=true
 ```
@@ -70,7 +70,7 @@ from lerobot.processor import (
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
-    bi_so100_follower,
+    bi_so_follower,
     earthrover_mini_plus,
     hope_jr,
     koch_follower,
@@ -81,7 +81,7 @@ from lerobot.robots import (  # noqa: F401
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
     TeleoperatorConfig,
-    bi_so100_leader,
+    bi_so_leader,
     gamepad,
     homunculus,
     keyboard,

src/lerobot/teleoperators/bi_so_leader/__init__.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 +14,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .bi_so100_follower import BiSO100Follower
+from .bi_so_leader import BiSOLeader, BiSOLeaderConfig
-from .config_bi_so100_follower import BiSO100FollowerConfig

src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py

@@ -17,46 +17,50 @@
 import logging
 from functools import cached_property
 
-from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
+from lerobot.teleoperators.so_leader import SOLeaderTeleopConfig
 
+from ..so_leader import SOLeader
 from ..teleoperator import Teleoperator
-from .config_bi_so100_leader import BiSO100LeaderConfig
+from .config_bi_so_leader import BiSOLeaderConfig
 
 logger = logging.getLogger(__name__)
 
 
-class BiSO100Leader(Teleoperator):
+class BiSOLeader(Teleoperator):
     """
-    [Bimanual SO-100 Leader Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
+    [Bimanual SO Leader Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
-    This bimanual leader arm can also be easily adapted to use SO-101 leader arms, just replace the SO100Leader class with SO101Leader and SO100LeaderConfig with SO101LeaderConfig.
     """
 
-    config_class = BiSO100LeaderConfig
+    config_class = BiSOLeaderConfig
-    name = "bi_so100_leader"
+    name = "bi_so_leader"
 
-    def __init__(self, config: BiSO100LeaderConfig):
+    def __init__(self, config: BiSOLeaderConfig):
         super().__init__(config)
         self.config = config
 
-        left_arm_config = SO100LeaderConfig(
+        left_arm_config = SOLeaderTeleopConfig(
             id=f"{config.id}_left" if config.id else None,
             calibration_dir=config.calibration_dir,
-            port=config.left_arm_port,
+            port=config.left_arm_config.port,
         )
 
-        right_arm_config = SO100LeaderConfig(
+        right_arm_config = SOLeaderTeleopConfig(
             id=f"{config.id}_right" if config.id else None,
             calibration_dir=config.calibration_dir,
-            port=config.right_arm_port,
+            port=config.right_arm_config.port,
         )
 
-        self.left_arm = SO100Leader(left_arm_config)
+        self.left_arm = SOLeader(left_arm_config)
-        self.right_arm = SO100Leader(right_arm_config)
+        self.right_arm = SOLeader(right_arm_config)
 
     @cached_property
     def action_features(self) -> dict[str, type]:
-        return {f"left_{motor}.pos": float for motor in self.left_arm.bus.motors} | {
+        left_arm_features = self.left_arm.action_features
-            f"right_{motor}.pos": float for motor in self.right_arm.bus.motors
+        right_arm_features = self.right_arm.action_features
+
+        return {
+            **{f"left_{k}": v for k, v in left_arm_features.items()},
+            **{f"right_{k}": v for k, v in right_arm_features.items()},
         }
 
     @cached_property
@@ -101,19 +105,8 @@ class BiSO100Leader(Teleoperator):
         return action_dict
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        # Remove "left_" prefix
+        # TODO: Implement force feedback
-        left_feedback = {
+        raise NotImplementedError
-            key.removeprefix("left_"): value for key, value in feedback.items() if key.startswith("left_")
-        }
-        # Remove "right_" prefix
-        right_feedback = {
-            key.removeprefix("right_"): value for key, value in feedback.items() if key.startswith("right_")
-        }
-
-        if left_feedback:
-            self.left_arm.send_feedback(left_feedback)
-        if right_feedback:
-            self.right_arm.send_feedback(right_feedback)
 
     def disconnect(self) -> None:
         self.left_arm.disconnect()

src/lerobot/teleoperators/bi_so_leader/config_bi_so_leader.py

@@ -16,11 +16,15 @@
 
 from dataclasses import dataclass
 
+from lerobot.teleoperators.so_leader import SOLeaderConfig
+
 from ..config import TeleoperatorConfig
 
 
-@TeleoperatorConfig.register_subclass("bi_so100_leader")
+@TeleoperatorConfig.register_subclass("bi_so_leader")
 @dataclass
-class BiSO100LeaderConfig(TeleoperatorConfig):
+class BiSOLeaderConfig(TeleoperatorConfig):
-    left_arm_port: str
+    """Configuration class for Bi SO Leader teleoperators."""
-    right_arm_port: str
+
+    left_arm_config: SOLeaderConfig
+    right_arm_config: SOLeaderConfig

src/lerobot/teleoperators/so_leader/__init__.py

@@ -14,9 +14,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .so100_leader.config_so100_leader import SO100LeaderConfig
+from .config_so_leader import (
-from .so100_leader.so100_leader import SO100Leader
+    SO100LeaderConfig,
-from .so101_leader.config_so101_leader import SO101LeaderConfig
+    SO101LeaderConfig,
-from .so101_leader.so101_leader import SO101Leader
+    SOLeaderConfig,
-from .so_leader_base import SOLeaderBase
+    SOLeaderTeleopConfig,
-from .so_leader_config_base import SOLeaderConfigBase
+)
+from .so_leader import SO100Leader, SO101Leader, SOLeader

src/lerobot/teleoperators/so_leader/config_so_leader.py

@@ -15,12 +15,13 @@
 # limitations under the License.
 
 from dataclasses import dataclass
+from typing import TypeAlias
 
 from ..config import TeleoperatorConfig
 
 
 @dataclass
-class SOLeaderConfigBase(TeleoperatorConfig):
+class SOLeaderConfig:
     """Base configuration class for SO Leader teleoperators."""
 
     # Port to connect to the arm
@@ -28,3 +29,14 @@ class SOLeaderConfigBase(TeleoperatorConfig):
 
     # Whether to use degrees for angles
     use_degrees: bool = False
+
+
+@TeleoperatorConfig.register_subclass("so101_leader")
+@TeleoperatorConfig.register_subclass("so100_leader")
+@dataclass
+class SOLeaderTeleopConfig(TeleoperatorConfig, SOLeaderConfig):
+    pass
+
+
+SO100LeaderConfig: TypeAlias = SOLeaderTeleopConfig
+SO101LeaderConfig: TypeAlias = SOLeaderTeleopConfig

src/lerobot/teleoperators/so_leader/so100.md

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

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

@@ -1,26 +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.
-
-from dataclasses import dataclass
-
-from ...config import TeleoperatorConfig
-from ..so_leader_config_base import SOLeaderConfigBase
-
-
-@TeleoperatorConfig.register_subclass("so100_leader")
-@dataclass
-class SO100LeaderConfig(SOLeaderConfigBase):
-    pass

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

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

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

@@ -1,27 +0,0 @@
-# !/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.md

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

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

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

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

@@ -1,27 +0,0 @@
-# !/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.py

@@ -16,6 +16,7 @@
 
 import logging
 import time
+from typing import TypeAlias
 
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.feetech import (
@@ -25,15 +26,18 @@ from lerobot.motors.feetech import (
 from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..teleoperator import Teleoperator
-from .so_leader_config_base import SOLeaderConfigBase
+from .config_so_leader import SOLeaderTeleopConfig
 
 logger = logging.getLogger(__name__)
 
 
-class SOLeaderBase(Teleoperator):
+class SOLeader(Teleoperator):
     """Generic SO leader base for SO-100/101/10X teleoperators."""
 
-    def __init__(self, config: SOLeaderConfigBase):
+    config_class = SOLeaderTeleopConfig
+    name = "so_leader"
+
+    def __init__(self, config: SOLeaderTeleopConfig):
         super().__init__(config)
         self.config = config
         norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
@@ -153,3 +157,7 @@ class SOLeaderBase(Teleoperator):
 
         self.bus.disconnect()
         logger.info(f"{self} disconnected.")
+
+
+SO100Leader: TypeAlias = SOLeader
+SO101Leader: TypeAlias = SOLeader

src/lerobot/teleoperators/utils.py

@@ -73,10 +73,10 @@ def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
         from .homunculus import HomunculusArm
 
         return HomunculusArm(config)
-    elif config.type == "bi_so100_leader":
+    elif config.type == "bi_so_leader":
-        from .bi_so100_leader import BiSO100Leader
+        from .bi_so_leader import BiSOLeader
 
-        return BiSO100Leader(config)
+        return BiSOLeader(config)
     elif config.type == "reachy2_teleoperator":
         from .reachy2_teleoperator import Reachy2Teleoperator
 

tests/robots/test_so100_follower.py

@@ -66,7 +66,7 @@ def follower():
 
     with (
         patch(
-            "lerobot.robots.so_follower.so_follower_base.FeetechMotorsBus",
+            "lerobot.robots.so_follower.so_follower.FeetechMotorsBus",
             side_effect=_bus_side_effect,
         ),
         patch.object(SO100Follower, "configure", lambda self: None),