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Merge branch 'main' into feature/add-multitask-dit

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Bryson Jones
2026-01-08 08:17:15 -08:00
committed by GitHub
parent db17c08f6e 242b65d2df
commit dd39503802
67 changed files with 306 additions and 599 deletions
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2
docs/source/async.mdx
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@@ -169,7 +169,7 @@ python -m lerobot.async_inference.robot_client \
<!-- prettier-ignore-start -->
```python
import threading
from lerobot.robots.so100_follower import SO100FollowerConfig
from lerobot.robots.so_follower import SO100FollowerConfig
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.async_inference.configs import RobotClientConfig
from lerobot.async_inference.robot_client import RobotClient

4
docs/source/envhub_leisaac.mdx
View File

@@ -137,7 +137,7 @@ from lerobot.teleoperators import ( # noqa: F401
Teleoperator,
TeleoperatorConfig,
make_teleoperator_from_config,
so101_leader,
so_leader,
)
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import init_logging
@@ -222,7 +222,7 @@ def teleoperate(cfg: TeleoperateConfig):
def main():
teleoperate(TeleoperateConfig(
teleop=so101_leader.SO101LeaderConfig(
teleop=so_leader.SO101LeaderConfig(
port="/dev/ttyACM0",
id='leader',
use_degrees=False,

18
docs/source/il_robots.mdx
View File

@@ -58,8 +58,8 @@ lerobot-teleoperate \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so101_leader import SO101LeaderConfig, SO101Leader
from lerobot.robots.so101_follower import SO101FollowerConfig, SO101Follower
from lerobot.teleoperators.so_leader import SO101LeaderConfig, SO101Leader
from lerobot.robots.so_follower import SO101FollowerConfig, SO101Follower
robot_config = SO101FollowerConfig(
port="/dev/tty.usbmodem58760431541",
@@ -195,9 +195,9 @@ lerobot-record \
from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.utils import hw_to_dataset_features
from lerobot.robots.so100_follower import SO100Follower, SO100FollowerConfig
from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.teleoperators.so_leader.config_so100_leader import 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
@@ -408,8 +408,8 @@ lerobot-replay \
import time
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.robots.so_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so_follower.so100_follower import SO100Follower
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import log_say
@@ -531,8 +531,8 @@ from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.utils import hw_to_dataset_features
from lerobot.policies.act.modeling_act import ACTPolicy
from lerobot.policies.factory import make_pre_post_processors
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.robots.so_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so_follower.so100_follower import SO100Follower
from lerobot.scripts.lerobot_record import record_loop
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say

2
docs/source/integrate_hardware.mdx
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@@ -18,7 +18,7 @@ If you're using Feetech or Dynamixel motors, LeRobot provides built-in bus inter
- [`DynamixelMotorsBus`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/motors/dynamixel/dynamixel.py) – for controlling Dynamixel servos
Please refer to the [`MotorsBus`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/motors/motors_bus.py) abstract class to learn about its API.
For a good example of how it can be used, you can have a look at our own [SO101 follower implementation](https://github.com/huggingface/lerobot/blob/main/src/lerobot/robots/so101_follower/so101_follower.py)
For a good example of how it can be used, you can have a look at our own [SO101 follower implementation](https://github.com/huggingface/lerobot/blob/main/src/lerobot/robots/so_follower/so101_follower/so101_follower.py)
Use these if compatible. Otherwise, you'll need to find or write a Python interface (not covered in this tutorial):

2
docs/source/lekiwi.mdx
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@@ -204,7 +204,7 @@ lerobot-calibrate \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so100_leader import SO100LeaderConfig, SO100Leader
from lerobot.teleoperators.so_leader import SO100LeaderConfig, SO100Leader
config = SO100LeaderConfig(
port="/dev/tty.usbmodem58760431551",

16
docs/source/phone_teleop.mdx
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@@ -44,7 +44,7 @@ Modify the examples to use `PhoneOS.IOS` or `PhoneOS.ANDROID` in `PhoneConfig`.
Teleoperation example:
```36:43:examples/phone_so100_teleop.py
```python
from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
teleop_config = PhoneConfig(phone_os=PhoneOS.IOS) # or PhoneOS.ANDROID
@@ -103,7 +103,7 @@ Additionally you can customize mapping or safety limits by editing the processor
- Kinematics are used in multiple steps. We use [Placo](https://github.com/Rhoban/placo) which is a wrapper around Pinocchio for handling our kinematics. We construct the kinematics object by passing the robot's URDF and target frame. We set `target_frame_name` to the gripper frame.
```examples/phone_to_so100/teleoperate.py
```python
kinematics_solver = RobotKinematics(
urdf_path="./SO101/so101_new_calib.urdf",
target_frame_name="gripper_frame_link",
@@ -114,7 +114,7 @@ Additionally you can customize mapping or safety limits by editing the processor
- The `MapPhoneActionToRobotAction` step converts the calibrated phone pose and inputs into target deltas and gripper commands, below is shown what the step outputs.
```src/lerobot/teleoperators/phone/phone_processor.py
```python
action["enabled"] = enabled
action["target_x"] = -pos[1] if enabled else 0.0
action["target_y"] = pos[0] if enabled else 0.0
@@ -127,7 +127,7 @@ Additionally you can customize mapping or safety limits by editing the processor
- The `EEReferenceAndDelta` step converts target deltas to an absolute desired EE pose, storing a reference on enable, the `end_effector_step_sizes` are the step sizes for the EE pose and can be modified to change the motion speed.
```examples/phone_to_so100/teleoperate.py
```python
EEReferenceAndDelta(
kinematics=kinematics_solver,
end_effector_step_sizes={"x": 0.5, "y": 0.5, "z": 0.5},
@@ -138,7 +138,7 @@ Additionally you can customize mapping or safety limits by editing the processor
- The `EEBoundsAndSafety` step clamps EE motion to a workspace and checks for large ee step jumps to ensure safety. The `end_effector_bounds` are the bounds for the EE pose and can be modified to change the workspace. The `max_ee_step_m` are the step limits for the EE pose and can be modified to change the safety limits.
```examples/phone_to_so100/teleoperate.py
```python
EEBoundsAndSafety(
end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
max_ee_step_m=0.10,
@@ -147,7 +147,7 @@ Additionally you can customize mapping or safety limits by editing the processor
- The `GripperVelocityToJoint` step turns a velocity‑like gripper input into absolute gripper position using the current measured state. The `speed_factor` is the factor by which the velocity is multiplied.
```examples/phone_to_so100/teleoperate.py
```python
GripperVelocityToJoint(speed_factor=20.0)
```
@@ -157,7 +157,7 @@ We use different IK initial guesses in the kinematic steps. As initial guess eit
- Closed loop (used in record/eval): sets `initial_guess_current_joints=True` so IK starts from the measured joints each frame.
```examples/phone_to_so100/record.py
```python
InverseKinematicsEEToJoints(
kinematics=kinematics_solver,
motor_names=list(robot.bus.motors.keys()),
@@ -167,7 +167,7 @@ We use different IK initial guesses in the kinematic steps. As initial guess eit
- Open loop (used in replay): sets `initial_guess_current_joints=False` so IK continues from the previous IK solution rather than the measured state. This preserves action stability when we replay without feedback.
```examples/phone_to_so100/replay.py
```python
InverseKinematicsEEToJoints(
kinematics=kinematics_solver,
motor_names=list(robot.bus.motors.keys()),

6
docs/source/processors_robots_teleop.mdx
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@@ -30,7 +30,7 @@ Each of these pipelines handle different conversions between different action an
Below is an example of the three pipelines that we use in the phone to SO-100 follower examples:
```69:90:examples/phone_so100_record.py
```python
phone_to_robot_ee_pose_processor = RobotProcessorPipeline[RobotAction, RobotAction]( # teleop -> dataset action
steps=[
MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
@@ -84,7 +84,7 @@ Dataset features are determined by the keys saved in the dataset. Each step can
Below is and example of how we declare features with the `transform_features` method in the phone to SO-100 follower examples:
```src/lerobot/robots/so100_follower/robot_kinematic_processor.py
```python
def transform_features(
self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
@@ -103,7 +103,7 @@ Here we declare what PolicyFeatures we modify in this step, so we know what feat
Below is an example of how we aggregate and merge features in the phone to SO-100 record example:
```121:145:examples/phone_so100_record.py
```python
features=combine_feature_dicts(
# Run the feature contract of the pipelines
# This tells you how the features would look like after the pipeline steps

8
docs/source/so100.mdx
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@@ -103,7 +103,7 @@ lerobot-setup-motors \
<!-- prettier-ignore-start -->
```python
from lerobot.robots.so100_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
config = SO100FollowerConfig(
port="/dev/tty.usbmodem585A0076841",
@@ -177,7 +177,7 @@ lerobot-setup-motors \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
config = SO100LeaderConfig(
port="/dev/tty.usbmodem585A0076841",
@@ -579,7 +579,7 @@ lerobot-calibrate \
<!-- prettier-ignore-start -->
```python
from lerobot.robots.so100_follower import SO100FollowerConfig, SO100Follower
from lerobot.robots.so_follower import SO100FollowerConfig, SO100Follower
config = SO100FollowerConfig(
port="/dev/tty.usbmodem585A0076891",
@@ -617,7 +617,7 @@ lerobot-calibrate \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so100_leader import SO100LeaderConfig, SO100Leader
from lerobot.teleoperators.so_leader import SO100LeaderConfig, SO100Leader
config = SO100LeaderConfig(
port="/dev/tty.usbmodem58760431551",

8
docs/source/so101.mdx
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@@ -125,7 +125,7 @@ lerobot-setup-motors \
<!-- prettier-ignore-start -->
```python
from lerobot.robots.so101_follower import SO101Follower, SO101FollowerConfig
from lerobot.robots.so_follower import SO101Follower, SO101FollowerConfig
config = SO101FollowerConfig(
port="/dev/tty.usbmodem585A0076841",
@@ -201,7 +201,7 @@ lerobot-setup-motors \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so101_leader import SO101Leader, SO101LeaderConfig
from lerobot.teleoperators.so_leader import SO101Leader, SO101LeaderConfig
config = SO101LeaderConfig(
port="/dev/tty.usbmodem585A0076841",
@@ -364,7 +364,7 @@ lerobot-calibrate \
<!-- prettier-ignore-start -->
```python
from lerobot.robots.so101_follower import SO101FollowerConfig, SO101Follower
from lerobot.robots.so_follower import SO101FollowerConfig, SO101Follower
config = SO101FollowerConfig(
port="/dev/tty.usbmodem585A0076891",
@@ -413,7 +413,7 @@ lerobot-calibrate \
<!-- prettier-ignore-start -->
```python
from lerobot.teleoperators.so101_leader import SO101LeaderConfig, SO101Leader
from lerobot.teleoperators.so_leader import SO101LeaderConfig, SO101Leader
config = SO101LeaderConfig(
port="/dev/tty.usbmodem58760431551",

3
examples/backward_compatibility/replay.py
View File

@@ -41,8 +41,7 @@ from lerobot.robots import ( # noqa: F401
RobotConfig,
koch_follower,
make_robot_from_config,
so100_follower,
so101_follower,
so_follower,
)
from lerobot.utils.constants import ACTION
from lerobot.utils.robot_utils import precise_sleep

2
examples/lekiwi/record.py
View File

@@ -21,7 +21,7 @@ from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient
from lerobot.scripts.lerobot_record import record_loop
from lerobot.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
from lerobot.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
from lerobot.utils.constants import ACTION, OBS_STR
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say

2
examples/lekiwi/teleoperate.py
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@@ -18,7 +18,7 @@ import time
from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
from lerobot.teleoperators.keyboard.teleop_keyboard import KeyboardTeleop, KeyboardTeleopConfig
from lerobot.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
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

5
examples/phone_to_so100/evaluate.py
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@@ -34,12 +34,11 @@ from lerobot.processor.converters import (
transition_to_observation,
transition_to_robot_action,
)
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower.robot_kinematic_processor import (
ForwardKinematicsJointsToEE,
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.scripts.lerobot_record import record_loop
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say

5
examples/phone_to_so100/record.py
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@@ -26,15 +26,14 @@ from lerobot.processor.converters import (
transition_to_observation,
transition_to_robot_action,
)
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower.robot_kinematic_processor import (
EEBoundsAndSafety,
EEReferenceAndDelta,
ForwardKinematicsJointsToEE,
GripperVelocityToJoint,
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.scripts.lerobot_record import record_loop
from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction

5
examples/phone_to_so100/replay.py
View File

@@ -23,11 +23,10 @@ from lerobot.processor.converters import (
robot_action_observation_to_transition,
transition_to_robot_action,
)
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower.robot_kinematic_processor import (
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.utils.constants import ACTION
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import log_say

5
examples/phone_to_so100/teleoperate.py
View File

@@ -21,14 +21,13 @@ from lerobot.processor.converters import (
robot_action_observation_to_transition,
transition_to_robot_action,
)
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower.robot_kinematic_processor import (
EEBoundsAndSafety,
EEReferenceAndDelta,
GripperVelocityToJoint,
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
from lerobot.teleoperators.phone.teleop_phone import Phone

3
examples/rtc/eval_with_real_robot.py
View File

@@ -95,8 +95,7 @@ from lerobot.robots import ( # noqa: F401
Robot,
RobotConfig,
koch_follower,
so100_follower,
so101_follower,
so_follower,
)
from lerobot.robots.utils import make_robot_from_config
from lerobot.utils.constants import OBS_IMAGES

5
examples/so100_to_so100_EE/evaluate.py
View File

@@ -34,12 +34,11 @@ from lerobot.processor.converters import (
transition_to_observation,
transition_to_robot_action,
)
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower.robot_kinematic_processor import (
ForwardKinematicsJointsToEE,
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.scripts.lerobot_record import record_loop
from lerobot.utils.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say

9
examples/so100_to_so100_EE/record.py
View File

@@ -27,16 +27,15 @@ from lerobot.processor.converters import (
transition_to_observation,
transition_to_robot_action,
)
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower.robot_kinematic_processor import (
EEBoundsAndSafety,
ForwardKinematicsJointsToEE,
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.scripts.lerobot_record import record_loop
from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
from lerobot.teleoperators.so_leader import 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

5
examples/so100_to_so100_EE/replay.py
View File

@@ -24,11 +24,10 @@ from lerobot.processor.converters import (
robot_action_observation_to_transition,
transition_to_robot_action,
)
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower.robot_kinematic_processor import (
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.utils.constants import ACTION
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import log_say

9
examples/so100_to_so100_EE/teleoperate.py
View File

@@ -23,15 +23,14 @@ from lerobot.processor.converters import (
robot_action_to_transition,
transition_to_robot_action,
)
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.robot_kinematic_processor import (
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from lerobot.robots.so_follower.robot_kinematic_processor import (
EEBoundsAndSafety,
ForwardKinematicsJointsToEE,
InverseKinematicsEEToJoints,
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
from lerobot.teleoperators.so_leader import 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

3
examples/tutorial/act/act_using_example.py
View File

@@ -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
View File

@@ -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
View File

@@ -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
View File

@@ -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
View File

@@ -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
View File

@@ -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

3
src/lerobot/async_inference/robot_client.py
View File

@@ -55,8 +55,7 @@ from lerobot.robots import ( # noqa: F401
koch_follower,
make_robot_from_config,
omx_follower,
so100_follower,
so101_follower,
so_follower,
)
from lerobot.transport import (
services_pb2, # type: ignore

4
src/lerobot/rl/actor.py
View File

@@ -65,8 +65,8 @@ from lerobot.policies.sac.modeling_sac import SACPolicy
from lerobot.processor import TransitionKey
from lerobot.rl.process import ProcessSignalHandler
from lerobot.rl.queue import get_last_item_from_queue
from lerobot.robots import so100_follower # noqa: F401
from lerobot.teleoperators import gamepad, so101_leader # noqa: F401
from lerobot.robots import so_follower # noqa: F401
from lerobot.teleoperators import gamepad, so_leader # noqa: F401
from lerobot.teleoperators.utils import TeleopEvents
from lerobot.transport import services_pb2, services_pb2_grpc
from lerobot.transport.utils import (

4
src/lerobot/rl/eval_policy.py
View File

@@ -23,11 +23,11 @@ from lerobot.policies.factory import make_policy
from lerobot.robots import ( # noqa: F401
RobotConfig,
make_robot_from_config,
so100_follower,
so_follower,
)
from lerobot.teleoperators import (
gamepad, # noqa: F401
so101_leader, # noqa: F401
so_leader, # noqa: F401
)
from .gym_manipulator import make_robot_env

6
src/lerobot/rl/gym_manipulator.py
View File

@@ -55,10 +55,10 @@ from lerobot.processor.converters import identity_transition
from lerobot.robots import ( # noqa: F401
RobotConfig,
make_robot_from_config,
so100_follower,
so_follower,
)
from lerobot.robots.robot import Robot
from lerobot.robots.so100_follower.robot_kinematic_processor import (
from lerobot.robots.so_follower.robot_kinematic_processor import (
EEBoundsAndSafety,
EEReferenceAndDelta,
ForwardKinematicsJointsToEEObservation,
@@ -69,7 +69,7 @@ from lerobot.teleoperators import (
gamepad, # noqa: F401
keyboard, # noqa: F401
make_teleoperator_from_config,
so101_leader, # noqa: F401
so_leader, # noqa: F401
)
from lerobot.teleoperators.teleoperator import Teleoperator
from lerobot.teleoperators.utils import TeleopEvents

4
src/lerobot/rl/learner.py
View File

@@ -69,8 +69,8 @@ from lerobot.policies.sac.modeling_sac import SACPolicy
from lerobot.rl.buffer import ReplayBuffer, concatenate_batch_transitions
from lerobot.rl.process import ProcessSignalHandler
from lerobot.rl.wandb_utils import WandBLogger
from lerobot.robots import so100_follower # noqa: F401
from lerobot.teleoperators import gamepad, so101_leader # noqa: F401
from lerobot.robots import so_follower # noqa: F401
from lerobot.teleoperators import gamepad, so_leader # noqa: F401
from lerobot.teleoperators.utils import TeleopEvents
from lerobot.transport import services_pb2_grpc
from lerobot.transport.utils import (

3
src/lerobot/robots/bi_so100_follower/bi_so100_follower.py
View File

@@ -20,8 +20,7 @@ from functools import cached_property
from typing import Any
from lerobot.cameras.utils import make_cameras_from_configs
from lerobot.robots.so100_follower import SO100Follower
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
from ..robot import Robot
from .config_bi_so100_follower import BiSO100FollowerConfig

41
src/lerobot/robots/so100_follower/config_so100_follower.py
View File

@@ -1,41 +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("so100_follower")
@dataclass
class SO100FollowerConfig(RobotConfig):
# Port to connect to the arm
port: str
disable_torque_on_disconnect: bool = True
# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
# Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
# names to the max_relative_target value for that motor.
max_relative_target: float | dict[str, float] | None = None
# cameras
cameras: dict[str, CameraConfig] = field(default_factory=dict)
# Set to `True` for backward compatibility with previous policies/dataset
use_degrees: bool = False

1
src/lerobot/robots/so100_follower/so100.mdx
View File

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

1
src/lerobot/robots/so101_follower/so101.mdx
View File

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

230
src/lerobot/robots/so101_follower/so101_follower.py
View File

@@ -1,230 +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.
import logging
import time
from functools import cached_property
from typing import Any
from lerobot.cameras.utils import make_cameras_from_configs
from lerobot.motors import Motor, MotorCalibration, MotorNormMode
from lerobot.motors.feetech import (
FeetechMotorsBus,
OperatingMode,
)
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from ..robot import Robot
from ..utils import ensure_safe_goal_position
from .config_so101_follower import SO101FollowerConfig
logger = logging.getLogger(__name__)
class SO101Follower(Robot):
"""
SO-101 Follower Arm designed by TheRobotStudio and Hugging Face.
"""
config_class = SO101FollowerConfig
name = "so101_follower"
def __init__(self, config: SO101FollowerConfig):
super().__init__(config)
self.config = config
norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
self.bus = FeetechMotorsBus(
port=self.config.port,
motors={
"shoulder_pan": Motor(1, "sts3215", norm_mode_body),
"shoulder_lift": Motor(2, "sts3215", norm_mode_body),
"elbow_flex": Motor(3, "sts3215", norm_mode_body),
"wrist_flex": Motor(4, "sts3215", norm_mode_body),
"wrist_roll": Motor(5, "sts3215", norm_mode_body),
"gripper": Motor(6, "sts3215", MotorNormMode.RANGE_0_100),
},
calibration=self.calibration,
)
self.cameras = make_cameras_from_configs(config.cameras)
@property
def _motors_ft(self) -> dict[str, type]:
return {f"{motor}.pos": float for motor in self.bus.motors}
@property
def _cameras_ft(self) -> dict[str, tuple]:
return {
cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
}
@cached_property
def observation_features(self) -> dict[str, type | tuple]:
return {**self._motors_ft, **self._cameras_ft}
@cached_property
def action_features(self) -> dict[str, type]:
return self._motors_ft
@property
def is_connected(self) -> bool:
return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
def connect(self, calibrate: bool = True) -> None:
"""
We assume that at connection time, arm is in a rest position,
and torque can be safely disabled to run calibration.
"""
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.bus.connect()
if not self.is_calibrated and calibrate:
logger.info(
"Mismatch between calibration values in the motor and the calibration file or no calibration file found"
)
self.calibrate()
for cam in self.cameras.values():
cam.connect()
self.configure()
logger.info(f"{self} connected.")
@property
def is_calibrated(self) -> bool:
return self.bus.is_calibrated
def calibrate(self) -> None:
if self.calibration:
# self.calibration is not empty here
user_input = input(
f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
)
if user_input.strip().lower() != "c":
logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
self.bus.write_calibration(self.calibration)
return
logger.info(f"\nRunning calibration of {self}")
self.bus.disable_torque()
for motor in self.bus.motors:
self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
input(f"Move {self} to the middle of its range of motion and press ENTER....")
homing_offsets = self.bus.set_half_turn_homings()
print(
"Move all joints sequentially through their entire ranges "
"of motion.\nRecording positions. Press ENTER to stop..."
)
range_mins, range_maxes = self.bus.record_ranges_of_motion()
self.calibration = {}
for motor, m in self.bus.motors.items():
self.calibration[motor] = MotorCalibration(
id=m.id,
drive_mode=0,
homing_offset=homing_offsets[motor],
range_min=range_mins[motor],
range_max=range_maxes[motor],
)
self.bus.write_calibration(self.calibration)
self._save_calibration()
print("Calibration saved to", self.calibration_fpath)
def configure(self) -> None:
with self.bus.torque_disabled():
self.bus.configure_motors()
for motor in self.bus.motors:
self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
# Set P_Coefficient to lower value to avoid shakiness (Default is 32)
self.bus.write("P_Coefficient", motor, 16)
# Set I_Coefficient and D_Coefficient to default value 0 and 32
self.bus.write("I_Coefficient", motor, 0)
self.bus.write("D_Coefficient", motor, 32)
if motor == "gripper":
self.bus.write(
"Max_Torque_Limit", motor, 500
) # 50% of the max torque limit to avoid burnout
self.bus.write("Protection_Current", motor, 250) # 50% of max current to avoid burnout
self.bus.write("Overload_Torque", motor, 25) # 25% torque when overloaded
def setup_motors(self) -> None:
for motor in reversed(self.bus.motors):
input(f"Connect the controller board to the '{motor}' motor only and press enter.")
self.bus.setup_motor(motor)
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
def get_observation(self) -> dict[str, Any]:
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
# Read arm position
start = time.perf_counter()
obs_dict = self.bus.sync_read("Present_Position")
obs_dict = {f"{motor}.pos": val for motor, val in obs_dict.items()}
dt_ms = (time.perf_counter() - start) * 1e3
logger.debug(f"{self} read state: {dt_ms:.1f}ms")
# Capture images from cameras
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]:
"""Command arm to move to a target joint configuration.
The relative action magnitude may be clipped depending on the configuration parameter
`max_relative_target`. In this case, the action sent differs from original action.
Thus, this function always returns the action actually sent.
Raises:
RobotDeviceNotConnectedError: if robot is not connected.
Returns:
the action sent to the motors, potentially clipped.
"""
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
# Cap goal position when too far away from present position.
# /!\ Slower fps expected due to reading from the follower.
if self.config.max_relative_target is not None:
present_pos = self.bus.sync_read("Present_Position")
goal_present_pos = {key: (g_pos, present_pos[key]) for key, g_pos in goal_pos.items()}
goal_pos = ensure_safe_goal_position(goal_present_pos, self.config.max_relative_target)
# Send goal position to the arm
self.bus.sync_write("Goal_Position", goal_pos)
return {f"{motor}.pos": val for motor, val in goal_pos.items()}
def disconnect(self):
if not self.is_connected:
raise DeviceNotConnectedError(f"{self} is not connected.")
self.bus.disconnect(self.config.disable_torque_on_disconnect)
for cam in self.cameras.values():
cam.disconnect()
logger.info(f"{self} disconnected.")

23
src/lerobot/robots/so_follower/__init__.py Normal file
View File

@@ -0,0 +1,23 @@
#!/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 .so100_follower.config_so100_follower import SO100FollowerConfig
from .so100_follower.so100_follower import SO100Follower
from .so101_follower.config_so101_follower import SO101FollowerConfig
from .so101_follower.so101_follower import SO101Follower
from .so_follower_base import SOFollowerBase
from .so_follower_config_base import SOFollowerConfigBase

0
src/lerobot/robots/so100_follower/robot_kinematic_processor.py → src/lerobot/robots/so_follower/robot_kinematic_processor.py
View File

14
src/lerobot/teleoperators/so101_leader/__init__.py → src/lerobot/robots/so_follower/so100_follower/config_so100_follower.py
View File

@@ -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 +14,13 @@
# See the License for the specific language governing permissions and
# limitations under the License.
from .config_so101_leader import SO101LeaderConfig
from .so101_leader import SO101Leader
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

1
src/lerobot/robots/so_follower/so100_follower/so100.md Symbolic link
View File

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

27
src/lerobot/robots/so_follower/so100_follower/so100_follower.py Normal file
View File

@@ -0,0 +1,27 @@
#!/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"

14
src/lerobot/teleoperators/so100_leader/__init__.py → src/lerobot/robots/so_follower/so101_follower/config_so101_follower.py
View File

@@ -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 +14,13 @@
# See the License for the specific language governing permissions and
# limitations under the License.
from .config_so100_leader import SO100LeaderConfig
from .so100_leader import SO100Leader
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

1
src/lerobot/robots/so_follower/so101_follower/so101.md Symbolic link
View File

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

13
src/lerobot/robots/so101_follower/__init__.py → src/lerobot/robots/so_follower/so101_follower/so101_follower.py
View File

@@ -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 +14,14 @@
# 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
from .so101_follower import SO101Follower
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"

16
src/lerobot/robots/so100_follower/so100_follower.py → src/lerobot/robots/so_follower/so_follower_base.py
View File

@@ -1,6 +1,6 @@
#!/usr/bin/env python
# Copyright 2024 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.
@@ -29,22 +29,23 @@ from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnected
from ..robot import Robot
from ..utils import ensure_safe_goal_position
from .config_so100_follower import SO100FollowerConfig
from .so_follower_config_base import SOFollowerConfigBase
logger = logging.getLogger(__name__)
class SO100Follower(Robot):
class SOFollowerBase(Robot):
"""
[SO-100 Follower Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
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 = SO100FollowerConfig
name = "so100_follower"
# `config_class` and `name` should be set by subclasses
def __init__(self, config: SO100FollowerConfig):
def __init__(self, config: SOFollowerConfigBase):
super().__init__(config)
self.config = config
# choose normalization mode depending on config if available
norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
self.bus = FeetechMotorsBus(
port=self.config.port,
@@ -126,6 +127,7 @@ class SO100Follower(Robot):
input(f"Move {self} to the middle of its range of motion and press ENTER....")
homing_offsets = self.bus.set_half_turn_homings()
# Attempt to call record_ranges_of_motion with a reduced motor set when appropriate.
full_turn_motor = "wrist_roll"
unknown_range_motors = [motor for motor in self.bus.motors if motor != full_turn_motor]
print(

5
src/lerobot/robots/so101_follower/config_so101_follower.py → src/lerobot/robots/so_follower/so_follower_config_base.py
View File

@@ -21,9 +21,10 @@ from lerobot.cameras import CameraConfig
from ..config import RobotConfig
@RobotConfig.register_subclass("so101_follower")
@dataclass
class SO101FollowerConfig(RobotConfig):
class SOFollowerConfigBase(RobotConfig):
"""Base configuration class for SO Follower robots."""
# Port to connect to the arm
port: str

4
src/lerobot/robots/utils.py
View File

@@ -33,11 +33,11 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
return OmxFollower(config)
elif config.type == "so100_follower":
from .so100_follower import SO100Follower
from .so_follower import SO100Follower
return SO100Follower(config)
elif config.type == "so101_follower":
from .so101_follower import SO101Follower
from .so_follower import SO101Follower
return SO101Follower(config)
elif config.type == "lekiwi":

6
src/lerobot/scripts/lerobot_calibrate.py
View File

@@ -41,8 +41,7 @@ from lerobot.robots import ( # noqa: F401
lekiwi,
make_robot_from_config,
omx_follower,
so100_follower,
so101_follower,
so_follower,
)
from lerobot.teleoperators import ( # noqa: F401
Teleoperator,
@@ -51,8 +50,7 @@ from lerobot.teleoperators import ( # noqa: F401
koch_leader,
make_teleoperator_from_config,
omx_leader,
so100_leader,
so101_leader,
so_leader,
)
from lerobot.utils.import_utils import register_third_party_plugins
from lerobot.utils.utils import init_logging

6
src/lerobot/scripts/lerobot_find_joint_limits.py
View File

@@ -47,8 +47,7 @@ from lerobot.robots import ( # noqa: F401
koch_follower,
make_robot_from_config,
omx_follower,
so100_follower,
so101_follower,
so_follower,
)
from lerobot.teleoperators import ( # noqa: F401
TeleoperatorConfig,
@@ -56,8 +55,7 @@ from lerobot.teleoperators import ( # noqa: F401
koch_leader,
make_teleoperator_from_config,
omx_leader,
so100_leader,
so101_leader,
so_leader,
)
from lerobot.utils.robot_utils import precise_sleep

10
src/lerobot/scripts/lerobot_record.py
View File

@@ -98,8 +98,7 @@ from lerobot.robots import ( # noqa: F401
koch_follower,
make_robot_from_config,
omx_follower,
so100_follower,
so101_follower,
so_follower,
)
from lerobot.teleoperators import ( # noqa: F401
Teleoperator,
@@ -109,8 +108,7 @@ from lerobot.teleoperators import ( # noqa: F401
koch_leader,
make_teleoperator_from_config,
omx_leader,
so100_leader,
so101_leader,
so_leader,
)
from lerobot.teleoperators.keyboard.teleop_keyboard import KeyboardTeleop
from lerobot.utils.constants import ACTION, OBS_STR
@@ -282,8 +280,8 @@ def record_loop(
if isinstance(
t,
(
so100_leader.SO100Leader
| so101_leader.SO101Leader
so_leader.SO100Leader
| so_leader.SO101Leader
| koch_leader.KochLeader
| omx_leader.OmxLeader
),

3
src/lerobot/scripts/lerobot_replay.py
View File

@@ -59,8 +59,7 @@ from lerobot.robots import ( # noqa: F401
koch_follower,
make_robot_from_config,
omx_follower,
so100_follower,
so101_follower,
so_follower,
)
from lerobot.utils.constants import ACTION
from lerobot.utils.import_utils import register_third_party_plugins

6
src/lerobot/scripts/lerobot_setup_motors.py
View File

@@ -34,16 +34,14 @@ from lerobot.robots import ( # noqa: F401
lekiwi,
make_robot_from_config,
omx_follower,
so100_follower,
so101_follower,
so_follower,
)
from lerobot.teleoperators import ( # noqa: F401
TeleoperatorConfig,
koch_leader,
make_teleoperator_from_config,
omx_leader,
so100_leader,
so101_leader,
so_leader,
)
COMPATIBLE_DEVICES = [

6
src/lerobot/scripts/lerobot_teleoperate.py
View File

@@ -76,8 +76,7 @@ from lerobot.robots import ( # noqa: F401
koch_follower,
make_robot_from_config,
omx_follower,
so100_follower,
so101_follower,
so_follower,
)
from lerobot.teleoperators import ( # noqa: F401
Teleoperator,
@@ -89,8 +88,7 @@ from lerobot.teleoperators import ( # noqa: F401
koch_leader,
make_teleoperator_from_config,
omx_leader,
so100_leader,
so101_leader,
so_leader,
)
from lerobot.utils.import_utils import register_third_party_plugins
from lerobot.utils.robot_utils import precise_sleep

3
src/lerobot/teleoperators/bi_so100_leader/bi_so100_leader.py
View File

@@ -17,8 +17,7 @@
import logging
from functools import cached_property
from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
from ..teleoperator import Teleoperator
from .config_bi_so100_leader import BiSO100LeaderConfig

159
src/lerobot/teleoperators/so100_leader/so100_leader.py
View File

@@ -1,159 +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.
import logging
import time
from lerobot.motors import Motor, MotorCalibration, MotorNormMode
from lerobot.motors.feetech import (
FeetechMotorsBus,
OperatingMode,
)
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from ..teleoperator import Teleoperator
from .config_so100_leader import SO100LeaderConfig
logger = logging.getLogger(__name__)
class SO100Leader(Teleoperator):
"""
[SO-100 Leader Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
"""
config_class = SO100LeaderConfig
name = "so100_leader"
def __init__(self, config: SO100LeaderConfig):
super().__init__(config)
self.config = config
self.bus = FeetechMotorsBus(
port=self.config.port,
motors={
"shoulder_pan": Motor(1, "sts3215", MotorNormMode.RANGE_M100_100),
"shoulder_lift": Motor(2, "sts3215", MotorNormMode.RANGE_M100_100),
"elbow_flex": Motor(3, "sts3215", MotorNormMode.RANGE_M100_100),
"wrist_flex": Motor(4, "sts3215", MotorNormMode.RANGE_M100_100),
"wrist_roll": Motor(5, "sts3215", MotorNormMode.RANGE_M100_100),
"gripper": Motor(6, "sts3215", MotorNormMode.RANGE_0_100),
},
calibration=self.calibration,
)
@property
def action_features(self) -> dict[str, type]:
return {f"{motor}.pos": float for motor in self.bus.motors}
@property
def feedback_features(self) -> dict[str, type]:
return {}
@property
def is_connected(self) -> bool:
return self.bus.is_connected
def connect(self, calibrate: bool = True) -> None:
if self.is_connected:
raise DeviceAlreadyConnectedError(f"{self} already connected")
self.bus.connect()
if not self.is_calibrated and calibrate:
logger.info(
"Mismatch between calibration values in the motor and the calibration file or no calibration file found"
)
self.calibrate()
self.configure()
logger.info(f"{self} connected.")
@property
def is_calibrated(self) -> bool:
return self.bus.is_calibrated
def calibrate(self) -> None:
if self.calibration:
# Calibration file exists, ask user whether to use it or run new calibration
user_input = input(
f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
)
if user_input.strip().lower() != "c":
logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
self.bus.write_calibration(self.calibration)
return
logger.info(f"\nRunning calibration of {self}")
self.bus.disable_torque()
for motor in self.bus.motors:
self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
input(f"Move {self} to the middle of its range of motion and press ENTER....")
homing_offsets = self.bus.set_half_turn_homings()
full_turn_motor = "wrist_roll"
unknown_range_motors = [motor for motor in self.bus.motors if motor != full_turn_motor]
print(
f"Move all joints except '{full_turn_motor}' sequentially through their "
"entire ranges of motion.\nRecording positions. Press ENTER to stop..."
)
range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
range_mins[full_turn_motor] = 0
range_maxes[full_turn_motor] = 4095
self.calibration = {}
for motor, m in self.bus.motors.items():
self.calibration[motor] = MotorCalibration(
id=m.id,
drive_mode=0,
homing_offset=homing_offsets[motor],
range_min=range_mins[motor],
range_max=range_maxes[motor],
)
self.bus.write_calibration(self.calibration)
self._save_calibration()
print(f"Calibration saved to {self.calibration_fpath}")
def configure(self) -> None:
self.bus.disable_torque()
self.bus.configure_motors()
for motor in self.bus.motors:
self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
def setup_motors(self) -> None:
for motor in reversed(self.bus.motors):
input(f"Connect the controller board to the '{motor}' motor only and press enter.")
self.bus.setup_motor(motor)
print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
def get_action(self) -> dict[str, float]:
start = time.perf_counter()
action = self.bus.sync_read("Present_Position")
action = {f"{motor}.pos": val for motor, val in action.items()}
dt_ms = (time.perf_counter() - start) * 1e3
logger.debug(f"{self} read action: {dt_ms:.1f}ms")
return action
def send_feedback(self, feedback: dict[str, float]) -> None:
# TODO(rcadene, aliberts): Implement force feedback
raise NotImplementedError
def disconnect(self) -> None:
if not self.is_connected:
DeviceNotConnectedError(f"{self} is not connected.")
self.bus.disconnect()
logger.info(f"{self} disconnected.")

22
src/lerobot/teleoperators/so_leader/__init__.py Normal file
View File

@@ -0,0 +1,22 @@
#!/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 .so100_leader.config_so100_leader import SO100LeaderConfig
from .so100_leader.so100_leader import SO100Leader
from .so101_leader.config_so101_leader import SO101LeaderConfig
from .so101_leader.so101_leader import SO101Leader
from .so_leader_base import SOLeaderBase
from .so_leader_config_base import SOLeaderConfigBase

8
src/lerobot/teleoperators/so100_leader/config_so100_leader.py → src/lerobot/teleoperators/so_leader/so100_leader/config_so100_leader.py
View File

@@ -16,11 +16,11 @@
from dataclasses import dataclass
from ..config import TeleoperatorConfig
from ...config import TeleoperatorConfig
from ..so_leader_config_base import SOLeaderConfigBase
@TeleoperatorConfig.register_subclass("so100_leader")
@dataclass
class SO100LeaderConfig(TeleoperatorConfig):
# Port to connect to the arm
port: str
class SO100LeaderConfig(SOLeaderConfigBase):
pass

1
src/lerobot/teleoperators/so_leader/so100_leader/so100.md Symbolic link
View File

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

27
src/lerobot/teleoperators/so_leader/so100_leader/so100_leader.py Normal file
View File

@@ -0,0 +1,27 @@
# !/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"

10
src/lerobot/teleoperators/so101_leader/config_so101_leader.py → src/lerobot/teleoperators/so_leader/so101_leader/config_so101_leader.py
View File

@@ -16,13 +16,11 @@
from dataclasses import dataclass
from ..config import TeleoperatorConfig
from ...config import TeleoperatorConfig
from ..so_leader_config_base import SOLeaderConfigBase
@TeleoperatorConfig.register_subclass("so101_leader")
@dataclass
class SO101LeaderConfig(TeleoperatorConfig):
# Port to connect to the arm
port: str
use_degrees: bool = False
class SO101LeaderConfig(SOLeaderConfigBase):
pass

1
src/lerobot/teleoperators/so_leader/so101_leader/so101.md Symbolic link
View File

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

27
src/lerobot/teleoperators/so_leader/so101_leader/so101_leader.py Normal file
View File

@@ -0,0 +1,27 @@
# !/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"

29
src/lerobot/teleoperators/so101_leader/so101_leader.py → src/lerobot/teleoperators/so_leader/so_leader_base.py
View File

@@ -1,6 +1,6 @@
#!/usr/bin/env python
# !/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.
@@ -25,20 +25,15 @@ from lerobot.motors.feetech import (
from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
from ..teleoperator import Teleoperator
from .config_so101_leader import SO101LeaderConfig
from .so_leader_config_base import SOLeaderConfigBase
logger = logging.getLogger(__name__)
class SO101Leader(Teleoperator):
"""
SO-101 Leader Arm designed by TheRobotStudio and Hugging Face.
"""
class SOLeaderBase(Teleoperator):
"""Generic SO leader base for SO-100/101/10X teleoperators."""
config_class = SO101LeaderConfig
name = "so101_leader"
def __init__(self, config: SO101LeaderConfig):
def __init__(self, config: SOLeaderConfigBase):
super().__init__(config)
self.config = config
norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
@@ -104,11 +99,15 @@ class SO101Leader(Teleoperator):
input(f"Move {self} to the middle of its range of motion and press ENTER....")
homing_offsets = self.bus.set_half_turn_homings()
full_turn_motor = "wrist_roll"
unknown_range_motors = [motor for motor in self.bus.motors if motor != full_turn_motor]
print(
"Move all joints sequentially through their entire ranges "
"of motion.\nRecording positions. Press ENTER to stop..."
f"Move all joints except '{full_turn_motor}' sequentially through their "
"entire ranges of motion.\nRecording positions. Press ENTER to stop..."
)
range_mins, range_maxes = self.bus.record_ranges_of_motion()
range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
range_mins[full_turn_motor] = 0
range_maxes[full_turn_motor] = 4095
self.calibration = {}
for motor, m in self.bus.motors.items():
@@ -145,7 +144,7 @@ class SO101Leader(Teleoperator):
return action
def send_feedback(self, feedback: dict[str, float]) -> None:
# TODO(rcadene, aliberts): Implement force feedback
# TODO: Implement force feedback
raise NotImplementedError
def disconnect(self) -> None:

16
src/lerobot/robots/so100_follower/__init__.py → src/lerobot/teleoperators/so_leader/so_leader_config_base.py
View File

@@ -14,5 +14,17 @@
# See the License for the specific language governing permissions and
# limitations under the License.
from .config_so100_follower import SO100FollowerConfig
from .so100_follower import SO100Follower
from dataclasses import dataclass
from ..config import TeleoperatorConfig
@dataclass
class SOLeaderConfigBase(TeleoperatorConfig):
"""Base configuration class for SO Leader teleoperators."""
# Port to connect to the arm
port: str
# Whether to use degrees for angles
use_degrees: bool = False

4
src/lerobot/teleoperators/utils.py
View File

@@ -46,11 +46,11 @@ def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
return OmxLeader(config)
elif config.type == "so100_leader":
from .so100_leader import SO100Leader
from .so_leader import SO100Leader
return SO100Leader(config)
elif config.type == "so101_leader":
from .so101_leader import SO101Leader
from .so_leader import SO101Leader
return SO101Leader(config)
elif config.type == "mock_teleop":

4
tests/robots/test_so100_follower.py
View File

@@ -19,7 +19,7 @@ from unittest.mock import MagicMock, patch
import pytest
from lerobot.robots.so100_follower import (
from lerobot.robots.so_follower import (
SO100Follower,
SO100FollowerConfig,
)
@@ -66,7 +66,7 @@ def follower():
with (
patch(
"lerobot.robots.so100_follower.so100_follower.FeetechMotorsBus",
"lerobot.robots.so_follower.so_follower_base.FeetechMotorsBus",
side_effect=_bus_side_effect,
),
patch.object(SO100Follower, "configure", lambda self: None),