feat(teleop): add SO100/SO101 leader-follower teleoperation example

fix: update import for SO101Leader in so101_leader_follower.py
chore: include SO101LeaderFollower in exports

examples/so100_teleop/teleop.py

@@ -0,0 +1,90 @@
+#!/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.
+
+"""
+Simple SO100/SO101 leader-follower teleoperation with spacebar intervention toggle.
+
+Modes:
+  - Default (not intervening): leader arm tracks follower position (torque ON on leader)
+  - Intervention (SPACE pressed): follower arm tracks leader position (torque OFF on leader)
+
+Usage:
+    uv run python examples/so100_teleop/teleop.py
+
+Controls:
+    SPACE  — toggle intervention on/off
+    Ctrl+C — exit
+"""
+
+import time
+
+from lerobot.robots.so_follower import SO101Follower, SO101FollowerConfig
+from lerobot.teleoperators.so_leader import SO101LeaderFollower
+from lerobot.teleoperators.so_leader.config_so_leader import SOLeaderTeleopConfig
+from lerobot.utils.robot_utils import precise_sleep
+
+FPS = 30
+
+# ── Configure ports ──────────────────────────────────────────────────────────
+follower_config = SO101FollowerConfig(
+    port="/dev/ttyUSB0",  # adjust to your follower port, e.g. /dev/usb_follower_arm
+    id="follower_arm",
+    use_degrees=True,
+)
+
+leader_config = SOLeaderTeleopConfig(
+    port="/dev/ttyUSB1",  # adjust to your leader port, e.g. /dev/usb_leader_arm
+    id="leader_arm",
+    use_degrees=True,
+)
+
+# ── Connect ──────────────────────────────────────────────────────────────────
+follower = SO101Follower(follower_config)
+leader = SO101LeaderFollower(leader_config)
+
+follower.connect()
+leader.connect()
+
+print("\nTeleoperation started.")
+print("  Not intervening → leader mirrors follower (torque ON)")
+print("  SPACE           → toggle intervention: follower mirrors leader (torque OFF)")
+print("  Ctrl+C          → exit\n")
+
+try:
+    while True:
+        t0 = time.perf_counter()
+
+        # 1. Read current follower joint positions
+        follower_obs = follower.get_observation()
+
+        # 2. Send follower positions to leader so it tracks the follower when not intervening
+        leader.send_action(follower_obs)
+
+        # 3. Read current leader joint positions
+        leader_action = leader.get_action()
+
+        # 4. When intervening, forward leader positions to follower
+        if leader.is_intervening:
+            follower.send_action(leader_action)
+        # else: follower holds its current position (no new command sent)
+
+        precise_sleep(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
+
+except KeyboardInterrupt:
+    print("\nExiting...")
+finally:
+    follower.disconnect()
+    leader.disconnect()

src/lerobot/teleoperators/so_leader/__init__.py

@@ -28,6 +28,7 @@ __all__ = [
     "SO100LeaderConfig",
     "SO101Leader",
     "SO101LeaderConfig",
+    "SO101LeaderFollower",
     "SOLeader",
     "SOLeaderConfig",
     "SOLeaderTeleopConfig",

src/lerobot/teleoperators/so_leader/so101_leader_follower.py

@@ -23,7 +23,7 @@ from threading import Event, Thread
 
 import numpy as np
 
-from lerobot.teleoperators.so101_leader.so101_leader import SO101Leader
+from lerobot.teleoperators.so_leader.so_leader import SOLeader as SO101Leader
 from lerobot.teleoperators.utils import TeleopEvents
 
 PYNPUT_AVAILABLE = True