Skip to content

feat(robots): consolidate SO arms implementation #2763

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
imstevenpmwork merged 2 commits into from
Jan 8, 2026
Merged

feat(robots): consolidate SO arms implementation #2763

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
efa19da
feat(robots): consolidate SO arms implementation
imstevenpmwork Jan 7, 2026
4314014
chore(robots): delete unnecessary init modules
imstevenpmwork Jan 7, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion docs/source/async.mdx
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
4 changes: 2 additions & 2 deletions docs/source/envhub_leisaac.mdx
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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,
Expand Down
18 changes: 9 additions & 9 deletions docs/source/il_robots.mdx
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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

Expand Down Expand Up @@ -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
Expand Down
2 changes: 1 addition & 1 deletion docs/source/integrate_hardware.mdx
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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):

Expand Down
2 changes: 1 addition & 1 deletion docs/source/lekiwi.mdx
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand Down
8 changes: 4 additions & 4 deletions docs/source/so100.mdx
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand Down Expand Up @@ -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",
Expand Down Expand Up @@ -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",
Expand Down Expand Up @@ -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",
Expand Down
8 changes: 4 additions & 4 deletions docs/source/so101.mdx
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand Down Expand Up @@ -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",
Expand Down Expand Up @@ -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",
Expand Down Expand Up @@ -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",
Expand Down
3 changes: 1 addition & 2 deletions examples/backward_compatibility/replay.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -41,8 +41,7 @@
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
Expand Down
2 changes: 1 addition & 1 deletion examples/lekiwi/record.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@
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
Expand Down
2 changes: 1 addition & 1 deletion examples/lekiwi/teleoperate.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@

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

Expand Down
5 changes: 2 additions & 3 deletions examples/phone_to_so100/evaluate.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,12 +34,11 @@
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
Expand Down
5 changes: 2 additions & 3 deletions examples/phone_to_so100/record.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,15 +26,14 @@
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
Expand Down
5 changes: 2 additions & 3 deletions examples/phone_to_so100/replay.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,11 +23,10 @@
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
Expand Down
5 changes: 2 additions & 3 deletions examples/phone_to_so100/teleoperate.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,14 +21,13 @@
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
Expand Down
3 changes: 1 addition & 2 deletions examples/rtc/eval_with_real_robot.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -95,8 +95,7 @@
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
Expand Down
5 changes: 2 additions & 3 deletions examples/so100_to_so100_EE/evaluate.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,12 +34,11 @@
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
Expand Down
9 changes: 4 additions & 5 deletions examples/so100_to_so100_EE/record.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -27,16 +27,15 @@
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
Expand Down
5 changes: 2 additions & 3 deletions examples/so100_to_so100_EE/replay.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,11 +24,10 @@
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
Expand Down
9 changes: 4 additions & 5 deletions examples/so100_to_so100_EE/teleoperate.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,15 +23,14 @@
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

Expand Down
3 changes: 1 addition & 2 deletions examples/tutorial/act/act_using_example.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,7 @@
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
Expand Down
2 changes: 1 addition & 1 deletion examples/tutorial/async-inf/robot_client.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
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():
Expand Down
3 changes: 1 addition & 2 deletions examples/tutorial/diffusion/diffusion_using_example.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,7 @@
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
Expand Down
3 changes: 1 addition & 2 deletions examples/tutorial/pi0/using_pi0_example.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,7 @@
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
Expand Down
4 changes: 2 additions & 2 deletions examples/tutorial/rl/hilserl_example.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,8 @@
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
Expand Down
3 changes: 1 addition & 2 deletions examples/tutorial/smolvla/using_smolvla_example.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,7 @@
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
Expand Down
Loading