From a5518a678111a300002075e5e070ce7941618629 Mon Sep 17 00:00:00 2001
From: ydy0615 <allenyuan410@gmail.com>
Date: Thu, 11 Dec 2025 21:34:12 +0800
Subject: [PATCH] feat: add double SO101 follower/leader support throughout the
 codebase
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

- Import and expose `so101_follower_double` (and corresponding leader) in examples, async inference, and scripts.
- Extend `SUPPORTED_ROBOTS` to include `so101_follower_double`.
- Update `make_robot_from_config` to handle the new robot type.
- Adjust calibration, joint limit discovery, recording, and replay scripts to use the double variant where appropriate. This enhances compatibility with dual‑arm configurations.
---
 examples/backward_compatibility/replay.py        | 1 +
 examples/rtc/eval_with_real_robot.py             | 1 +
 src/lerobot/async_inference/constants.py         | 2 +-
 src/lerobot/async_inference/robot_client.py      | 1 +
 src/lerobot/robots/utils.py                      | 4 ++++
 src/lerobot/scripts/lerobot_calibrate.py         | 3 ++-
 src/lerobot/scripts/lerobot_find_joint_limits.py | 2 ++
 src/lerobot/scripts/lerobot_record.py            | 2 ++
 src/lerobot/scripts/lerobot_replay.py            | 1 +
 src/lerobot/scripts/lerobot_setup_motors.py      | 2 ++
 src/lerobot/scripts/lerobot_teleoperate.py       | 2 ++
 11 files changed, 19 insertions(+), 2 deletions(-)

diff --git a/examples/backward_compatibility/replay.py b/examples/backward_compatibility/replay.py
index ed52a24..b0b160d 100644
--- a/examples/backward_compatibility/replay.py
+++ b/examples/backward_compatibility/replay.py
@@ -43,6 +43,7 @@ from lerobot.robots import (  # noqa: F401
     make_robot_from_config,
     so100_follower,
     so101_follower,
+    so101_follower_double,
 )
 from lerobot.utils.constants import ACTION
 from lerobot.utils.robot_utils import precise_sleep
diff --git a/examples/rtc/eval_with_real_robot.py b/examples/rtc/eval_with_real_robot.py
index 6f05148..3aaf5bc 100644
--- a/examples/rtc/eval_with_real_robot.py
+++ b/examples/rtc/eval_with_real_robot.py
@@ -97,6 +97,7 @@ from lerobot.robots import (  # noqa: F401
     koch_follower,
     so100_follower,
     so101_follower,
+    so101_follower_double,
 )
 from lerobot.robots.utils import make_robot_from_config
 from lerobot.utils.constants import OBS_IMAGES
diff --git a/src/lerobot/async_inference/constants.py b/src/lerobot/async_inference/constants.py
index 1b1dac0..77acbb7 100644
--- a/src/lerobot/async_inference/constants.py
+++ b/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"]
+SUPPORTED_ROBOTS = ["so100_follower", "so101_follower", "so101_follower_double", "bi_so100_follower"]
diff --git a/src/lerobot/async_inference/robot_client.py b/src/lerobot/async_inference/robot_client.py
index f9d70a6..256d810 100644
--- a/src/lerobot/async_inference/robot_client.py
+++ b/src/lerobot/async_inference/robot_client.py
@@ -56,6 +56,7 @@ from lerobot.robots import (  # noqa: F401
     make_robot_from_config,
     so100_follower,
     so101_follower,
+    so101_follower_double,
 )
 from lerobot.transport import (
     services_pb2,  # type: ignore
diff --git a/src/lerobot/robots/utils.py b/src/lerobot/robots/utils.py
index 4e80015..d7f35ef 100644
--- a/src/lerobot/robots/utils.py
+++ b/src/lerobot/robots/utils.py
@@ -36,6 +36,10 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
         from .so101_follower import SO101Follower
 
         return SO101Follower(config)
+    elif config.type == "so101_follower_double":
+        from .so101_follower_double import SO101FollowerDouble
+
+        return SO101FollowerDouble(config)
     elif config.type == "lekiwi":
         from .lekiwi import LeKiwi
 
diff --git a/src/lerobot/scripts/lerobot_calibrate.py b/src/lerobot/scripts/lerobot_calibrate.py
index 8247ec0..789303d 100644
--- a/src/lerobot/scripts/lerobot_calibrate.py
+++ b/src/lerobot/scripts/lerobot_calibrate.py
@@ -42,6 +42,7 @@ from lerobot.robots import (  # noqa: F401
     make_robot_from_config,
     so100_follower,
     so101_follower,
+    so101_follower_double,
 )
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
@@ -50,7 +51,7 @@ from lerobot.teleoperators import (  # noqa: F401
     koch_leader,
     make_teleoperator_from_config,
     so100_leader,
-    so101_leader,
+    so101_leader_double,
 )
 from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.utils import init_logging
diff --git a/src/lerobot/scripts/lerobot_find_joint_limits.py b/src/lerobot/scripts/lerobot_find_joint_limits.py
index 95fbd06..c35414c 100644
--- a/src/lerobot/scripts/lerobot_find_joint_limits.py
+++ b/src/lerobot/scripts/lerobot_find_joint_limits.py
@@ -48,6 +48,7 @@ from lerobot.robots import (  # noqa: F401
     make_robot_from_config,
     so100_follower,
     so101_follower,
+    so101_follower_double
 )
 from lerobot.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
@@ -56,6 +57,7 @@ from lerobot.teleoperators import (  # noqa: F401
     make_teleoperator_from_config,
     so100_leader,
     so101_leader,
+    so101_leader_double
 )
 from lerobot.utils.robot_utils import precise_sleep
 
diff --git a/src/lerobot/scripts/lerobot_record.py b/src/lerobot/scripts/lerobot_record.py
index 255e968..37dade4 100644
--- a/src/lerobot/scripts/lerobot_record.py
+++ b/src/lerobot/scripts/lerobot_record.py
@@ -99,6 +99,7 @@ from lerobot.robots import (  # noqa: F401
     make_robot_from_config,
     so100_follower,
     so101_follower,
+    so101_follower_double
 )
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
@@ -109,6 +110,7 @@ from lerobot.teleoperators import (  # noqa: F401
     make_teleoperator_from_config,
     so100_leader,
     so101_leader,
+    so101_leader_double
 )
 from lerobot.teleoperators.keyboard.teleop_keyboard import KeyboardTeleop
 from lerobot.utils.constants import ACTION, OBS_STR
diff --git a/src/lerobot/scripts/lerobot_replay.py b/src/lerobot/scripts/lerobot_replay.py
index 52cb1d7..7ad48d4 100644
--- a/src/lerobot/scripts/lerobot_replay.py
+++ b/src/lerobot/scripts/lerobot_replay.py
@@ -60,6 +60,7 @@ from lerobot.robots import (  # noqa: F401
     make_robot_from_config,
     so100_follower,
     so101_follower,
+    so101_follower_double
 )
 from lerobot.utils.constants import ACTION
 from lerobot.utils.import_utils import register_third_party_plugins
diff --git a/src/lerobot/scripts/lerobot_setup_motors.py b/src/lerobot/scripts/lerobot_setup_motors.py
index c1d256c..ab0603e 100644
--- a/src/lerobot/scripts/lerobot_setup_motors.py
+++ b/src/lerobot/scripts/lerobot_setup_motors.py
@@ -35,6 +35,7 @@ from lerobot.robots import (  # noqa: F401
     make_robot_from_config,
     so100_follower,
     so101_follower,
+    so101_follower_double
 )
 from lerobot.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
@@ -42,6 +43,7 @@ from lerobot.teleoperators import (  # noqa: F401
     make_teleoperator_from_config,
     so100_leader,
     so101_leader,
+    so101_leader_double
 )
 
 COMPATIBLE_DEVICES = [
diff --git a/src/lerobot/scripts/lerobot_teleoperate.py b/src/lerobot/scripts/lerobot_teleoperate.py
index d83766b..3fe2e05 100644
--- a/src/lerobot/scripts/lerobot_teleoperate.py
+++ b/src/lerobot/scripts/lerobot_teleoperate.py
@@ -77,6 +77,7 @@ from lerobot.robots import (  # noqa: F401
     make_robot_from_config,
     so100_follower,
     so101_follower,
+    so101_follower_double
 )
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
@@ -89,6 +90,7 @@ from lerobot.teleoperators import (  # noqa: F401
     make_teleoperator_from_config,
     so100_leader,
     so101_leader,
+    so101_leader_double
 )
 from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.robot_utils import precise_sleep