feat(robots): add xlerobot and composite teleop <leaders+gamepad> definitions#2484
feat(robots): add xlerobot and composite teleop <leaders+gamepad> definitions#2484bingogome wants to merge 49 commits intohuggingface:mainfrom
Conversation
feat: xlerobot top cam mount robot and teleop gamepad
feat: bi-so101
Signed-off-by: Yihao Liu <yihaoliu007@gmail.com>
feat: lekiwi base and gamepad teleop
Signed-off-by: Yihao Liu <yihaoliu007@gmail.com>
feat: biwheel base (reopen after clean commit history)
Signed-off-by: Yihao Liu <yihaoliu007@gmail.com>
Signed-off-by: Yihao Liu <yihaoliu007@gmail.com>
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lgtm guys, I will approve after we have a second reviewer, cc @pkooij for this ! |
Signed-off-by: Jade Choghari <chogharijade@gmail.com>
imstevenpmwork
requested review from
imstevenpmwork
and removed request for
pkooij
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Any update on this? Would love to get this merged in main! |
This is just the SO-101 code from huggingface#2484. I didn't want to wait for the PR to be merged.
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Hey would love an update on this as well! @pkooij @imstevenpmwork Almost merged! |
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Hello everyone — I'm temporarily holding this PR because some upcoming modifications to |
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| #!/usr/bin/env python | |||
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We shouldn't need this anymore if I'm not wrong
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Removed both bi_so101_follower and bi_so101_leader. Modified xlerobot teleop / configs / examples to use bi_so_leader (xlerobot subrobots already uses the so_follower alias). Changes in 1a3c846
What this does
An example run using
./src/lerobot/teleoperators/xlerobot_teleoperator/run.sh: videoEdit: bash file removed and the bash command can be found in
src/lerobot/robots/xlerobot/README.mdAdds full support for modular XLeRobot platform (⚙️ Hardware, 🎮 Teleop) and bi SO-101. Includes new robots (xlerobot plus sub-robots, bi_so101_follower), new teleoperators (xlerobot_default_composite plus sub-teleops, bi_so101_leader), shared-bus wiring, updated scripts (lerobot-record, lerobot-replay, lerobot-teleoperate), and folder-level ReadMe docs so users can spin up dual-arm + mobile-base setups out of the box.
How it was tested
How to checkout & try? (for the reviewer)