feat: add double SO101 follower/leader support throughout the codebase

- 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

@@ -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

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

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"]

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

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
 

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

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
 

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

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

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 = [

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