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feat(robots): consolidate SO arms implementation (#2763)

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* feat(robots): consolidate SO arms implementation

* chore(robots): delete unnecessary init modules
This commit is contained in:
Steven Palma
2026-01-08 13:04:30 +01:00
committed by GitHub
parent fbe4c8b94f
commit ccfd609ece
65 changed files with 295 additions and 588 deletions
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3
examples/tutorial/act/act_using_example.py
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@@ -5,8 +5,7 @@ from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
from lerobot.policies.act.modeling_act import ACTPolicy
from lerobot.policies.factory import make_pre_post_processors
from lerobot.policies.utils import build_inference_frame, make_robot_action
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
MAX_EPISODES = 5
MAX_STEPS_PER_EPISODE = 20

2
examples/tutorial/async-inf/robot_client.py
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@@ -4,7 +4,7 @@ from lerobot.async_inference.configs import RobotClientConfig
from lerobot.async_inference.helpers import visualize_action_queue_size
from lerobot.async_inference.robot_client import RobotClient
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.robots.so100_follower import SO100FollowerConfig
from lerobot.robots.so_follower import SO100FollowerConfig
def main():

3
examples/tutorial/diffusion/diffusion_using_example.py
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@@ -5,8 +5,7 @@ from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
from lerobot.policies.factory import make_pre_post_processors
from lerobot.policies.utils import build_inference_frame, make_robot_action
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
MAX_EPISODES = 5
MAX_STEPS_PER_EPISODE = 20

3
examples/tutorial/pi0/using_pi0_example.py
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@@ -5,8 +5,7 @@ from lerobot.datasets.utils import hw_to_dataset_features
from lerobot.policies.factory import make_pre_post_processors
from lerobot.policies.pi0.modeling_pi0 import PI0Policy
from lerobot.policies.utils import build_inference_frame, make_robot_action
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
MAX_EPISODES = 5
MAX_STEPS_PER_EPISODE = 20

4
examples/tutorial/rl/hilserl_example.py
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@@ -14,8 +14,8 @@ from lerobot.policies.sac.modeling_sac import SACPolicy
from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
from lerobot.rl.buffer import ReplayBuffer
from lerobot.rl.gym_manipulator import make_robot_env
from lerobot.robots.so100_follower import SO100FollowerConfig
from lerobot.teleoperators.so100_leader import SO100LeaderConfig
from lerobot.robots.so_follower import SO100FollowerConfig
from lerobot.teleoperators.so_leader import SO100LeaderConfig
from lerobot.teleoperators.utils import TeleopEvents
LOG_EVERY = 10

3
examples/tutorial/smolvla/using_smolvla_example.py
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@@ -5,8 +5,7 @@ from lerobot.datasets.utils import hw_to_dataset_features
from lerobot.policies.factory import make_pre_post_processors
from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy
from lerobot.policies.utils import build_inference_frame, make_robot_action
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
MAX_EPISODES = 5
MAX_STEPS_PER_EPISODE = 20