feat(robots): consolidate SO arms implementation#2763
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imstevenpmwork merged 2 commits intomainfrom Jan 8, 2026
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TheWisp
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Jan 9, 2026
Move SO107 follower and leader into the consolidated so_follower/so_leader modules to align with upstream architecture pattern established in huggingface#2763. Changes: - Move so107_follower/ into so_follower/so107_follower/ - Move so107_leader/ into so_leader/so107_leader/ - Inherit from SOFollowerBase and SOLeaderBase - Update configs to inherit from base config classes - Update all imports across scripts, RL modules, and utils - Remove standalone so107 module imports Benefits: - Follows upstream's consolidated architecture pattern - Reduces code duplication (429 lines → 128 lines) - Cleaner import structure with centralized exports - Fewer conflicts in future rebases - Easier to contribute upstream SO107 implements a 7-axis arm with forearm_roll joint, requiring custom motor configuration that overrides the 6-motor base class setup. Co-Authored-By: Claude Sonnet 4.5 <noreply@anthropic.com>
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Hello, thank you for your outstanding work. Could you please take a look at this issue? #2774 |
sandhya-cb
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Jan 28, 2026
* feat(robots): consolidate SO arms implementation * chore(robots): delete unnecessary init modules
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Type / Scope
Summary / Motivation
Currently SO100 and SO101 implementations (leader and follower) are practically the same code-wise. This consolidates their implementation into one to reduce duplicated code & ease maintenance. The differences between SO100 & SO101 are mostly HW-wise, and in case we do some modifications to the SW it would be either a new type of robot or SO20X.
Related issues
What changed
How was this tested
pytest -vv tests/lerobot-teleoperatealternating betweenso100andso101tags to check if the CLI parser continues to work and if the robots actually move.Checklist (required before merge)
pre-commit run -a)pytest)Reviewer notes