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Rename SO-100 classes

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This commit is contained in:
Simon Alibert
2025-04-03 08:14:35 +02:00
parent c0570b3003
commit 28cd3a6f3a
7 changed files with 25 additions and 33 deletions
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6
lerobot/common/robots/so100/__init__.py
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@@ -1,4 +1,2 @@
from .configuration_so100 import SO100RobotConfig from .config_so100_follower import SO100FollowerConfig
from .robot_so100 import SO100Robot from .so100_follower import SO100Follower
__all__ = ["SO100RobotConfig", "SO100Robot"]

6
lerobot/common/robots/so100/configuration_so100.py → lerobot/common/robots/so100/config_so100_follower.py
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@@ -5,10 +5,10 @@ from lerobot.common.cameras import CameraConfig
from ..config import RobotConfig from ..config import RobotConfig
@RobotConfig.register_subclass("so100") @RobotConfig.register_subclass("so100_follower")
@dataclass @dataclass
class SO100RobotConfig(RobotConfig): class SO100FollowerConfig(RobotConfig):
# Port to connect to the robot # Port to connect to the arm
port: str port: str
disable_torque_on_disconnect: bool = True disable_torque_on_disconnect: bool = True

14
lerobot/common/robots/so100/robot_so100.py → lerobot/common/robots/so100/so100_follower.py
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@@ -29,20 +29,20 @@ from lerobot.common.motors.feetech import (
from ..robot import Robot from ..robot import Robot
from ..utils import ensure_safe_goal_position from ..utils import ensure_safe_goal_position
from .configuration_so100 import SO100RobotConfig from .config_so100_follower import SO100FollowerConfig
logger = logging.getLogger(__name__) logger = logging.getLogger(__name__)
class SO100Robot(Robot): class SO100Follower(Robot):
""" """
[SO-100 Follower Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio [SO-100 Follower Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
""" """
config_class = SO100RobotConfig config_class = SO100FollowerConfig
name = "so100" name = "so100_follower"
def __init__(self, config: SO100RobotConfig): def __init__(self, config: SO100FollowerConfig):
super().__init__(config) super().__init__(config)
self.config = config self.config = config
self.arm = FeetechMotorsBus( self.arm = FeetechMotorsBus(
@@ -211,9 +211,7 @@ class SO100Robot(Robot):
def disconnect(self): def disconnect(self):
if not self.is_connected: if not self.is_connected:
raise DeviceNotConnectedError( raise DeviceNotConnectedError(f"{self} is not connected.")
"ManipulatorRobot is not connected. You need to run `robot.connect()` before disconnecting."
)
self.arm.disconnect(self.config.disable_torque_on_disconnect) self.arm.disconnect(self.config.disable_torque_on_disconnect)
for cam in self.cameras.values(): for cam in self.cameras.values():

6
lerobot/common/robots/utils.py
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@@ -40,10 +40,10 @@ def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
from .moss.configuration_moss import MossRobotConfig from .moss.configuration_moss import MossRobotConfig
return MossRobotConfig(**kwargs) return MossRobotConfig(**kwargs)
elif robot_type == "so100": elif robot_type == "so100_leader":
from .so100.configuration_so100 import SO100RobotConfig from .so100.config_so100_follower import SO100FollowerConfig
return SO100RobotConfig(**kwargs) return SO100FollowerConfig(**kwargs)
elif robot_type == "stretch": elif robot_type == "stretch":
from .stretch3.configuration_stretch3 import Stretch3RobotConfig from .stretch3.configuration_stretch3 import Stretch3RobotConfig

6
lerobot/common/teleoperators/so100/__init__.py
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@@ -1,4 +1,2 @@
from .configuration_so100 import SO100TeleopConfig from .config_so100_leader import SO100LeaderConfig
from .teleop_so100 import SO100Teleop from .so100_leader import SO100Leader
__all__ = ["SO100TeleopConfig", "SO100Teleop"]

6
lerobot/common/teleoperators/so100/configuration_so100.py → lerobot/common/teleoperators/so100/config_so100_leader.py
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@@ -19,8 +19,8 @@ from dataclasses import dataclass
from ..config import TeleoperatorConfig from ..config import TeleoperatorConfig
@TeleoperatorConfig.register_subclass("so100") @TeleoperatorConfig.register_subclass("so100_leader")
@dataclass @dataclass
class SO100TeleopConfig(TeleoperatorConfig): class SO100LeaderConfig(TeleoperatorConfig):
# Port to connect to the teloperator # Port to connect to the arm
port: str port: str

14
lerobot/common/teleoperators/so100/teleop_so100.py → lerobot/common/teleoperators/so100/so100_leader.py
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@@ -25,20 +25,20 @@ from lerobot.common.motors.feetech import (
) )
from ..teleoperator import Teleoperator from ..teleoperator import Teleoperator
from .configuration_so100 import SO100TeleopConfig from .config_so100_leader import SO100LeaderConfig
logger = logging.getLogger(__name__) logger = logging.getLogger(__name__)
class SO100Teleop(Teleoperator): class SO100Leader(Teleoperator):
""" """
[SO-100 Leader Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio [SO-100 Leader Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
""" """
config_class = SO100TeleopConfig config_class = SO100LeaderConfig
name = "so100" name = "so100_leader"
def __init__(self, config: SO100TeleopConfig): def __init__(self, config: SO100LeaderConfig):
super().__init__(config) super().__init__(config)
self.config = config self.config = config
self.arm = FeetechMotorsBus( self.arm = FeetechMotorsBus(
@@ -136,9 +136,7 @@ class SO100Teleop(Teleoperator):
def disconnect(self) -> None: def disconnect(self) -> None:
if not self.is_connected: if not self.is_connected:
raise DeviceNotConnectedError( DeviceNotConnectedError(f"{self} is not connected.")
"ManipulatorRobot is not connected. You need to run `robot.connect()` before disconnecting."
)
self.arm.disconnect() self.arm.disconnect()
logger.info(f"{self} disconnected.") logger.info(f"{self} disconnected.")