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lerobot/src/lerobot/teleoperators/so_leader/so101.md

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+../../../../docs/source/so101.mdx

lerobot/src/lerobot/teleoperators/so_leader/so_leader.py

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+# !/usr/bin/env python
+
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import logging
+import time
+from typing import TypeAlias
+
+from lerobot.motors import Motor, MotorCalibration, MotorNormMode
+from lerobot.motors.feetech import (
+    FeetechMotorsBus,
+    OperatingMode,
+)
+from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
+
+from ..teleoperator import Teleoperator
+from .config_so_leader import SOLeaderTeleopConfig
+
+logger = logging.getLogger(__name__)
+
+
+class SOLeader(Teleoperator):
+    """Generic SO leader base for SO-100/101/10X teleoperators."""
+
+    config_class = SOLeaderTeleopConfig
+    name = "so_leader"
+
+    def __init__(self, config: SOLeaderTeleopConfig):
+        super().__init__(config)
+        self.config = config
+        norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
+        self.bus = FeetechMotorsBus(
+            port=self.config.port,
+            motors={
+                "shoulder_pan": Motor(1, "sts3215", norm_mode_body),
+                "shoulder_lift": Motor(2, "sts3215", norm_mode_body),
+                "elbow_flex": Motor(3, "sts3215", norm_mode_body),
+                "wrist_flex": Motor(4, "sts3215", norm_mode_body),
+                "wrist_roll": Motor(5, "sts3215", norm_mode_body),
+                "gripper": Motor(6, "sts3215", MotorNormMode.RANGE_0_100),
+            },
+            calibration=self.calibration,
+        )
+
+    @property
+    def action_features(self) -> dict[str, type]:
+        return {f"{motor}.pos": float for motor in self.bus.motors}
+
+    @property
+    def feedback_features(self) -> dict[str, type]:
+        return {}
+
+    @property
+    def is_connected(self) -> bool:
+        return self.bus.is_connected
+
+    @check_if_already_connected
+    def connect(self, calibrate: bool = True) -> None:
+        self.bus.connect()
+        if not self.is_calibrated and calibrate:
+            logger.info(
+                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
+            )
+            self.calibrate()
+
+        self.configure()
+        logger.info(f"{self} connected.")
+
+    @property
+    def is_calibrated(self) -> bool:
+        return self.bus.is_calibrated
+
+    def calibrate(self) -> None:
+        if self.calibration:
+            # Calibration file exists, ask user whether to use it or run new calibration
+            user_input = input(
+                f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
+            )
+            if user_input.strip().lower() != "c":
+                logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
+                self.bus.write_calibration(self.calibration)
+                return
+
+        logger.info(f"\nRunning calibration of {self}")
+        self.bus.disable_torque()
+        for motor in self.bus.motors:
+            self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
+
+        input(f"Move {self} to the middle of its range of motion and press ENTER....")
+        homing_offsets = self.bus.set_half_turn_homings()
+
+        full_turn_motor = "wrist_roll"
+        unknown_range_motors = [motor for motor in self.bus.motors if motor != full_turn_motor]
+        print(
+            f"Move all joints except '{full_turn_motor}' sequentially through their "
+            "entire ranges of motion.\nRecording positions. Press ENTER to stop..."
+        )
+        range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
+        range_mins[full_turn_motor] = 0
+        range_maxes[full_turn_motor] = 4095
+
+        self.calibration = {}
+        for motor, m in self.bus.motors.items():
+            self.calibration[motor] = MotorCalibration(
+                id=m.id,
+                drive_mode=0,
+                homing_offset=homing_offsets[motor],
+                range_min=range_mins[motor],
+                range_max=range_maxes[motor],
+            )
+
+        self.bus.write_calibration(self.calibration)
+        self._save_calibration()
+        print(f"Calibration saved to {self.calibration_fpath}")
+
+    def configure(self) -> None:
+        self.bus.disable_torque()
+        self.bus.configure_motors()
+        for motor in self.bus.motors:
+            self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
+
+    def setup_motors(self) -> None:
+        for motor in reversed(self.bus.motors):
+            input(f"Connect the controller board to the '{motor}' motor only and press enter.")
+            self.bus.setup_motor(motor)
+            print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
+
+    @check_if_not_connected
+    def get_action(self) -> dict[str, float]:
+        start = time.perf_counter()
+        action = self.bus.sync_read("Present_Position")
+        action = {f"{motor}.pos": val for motor, val in action.items()}
+        dt_ms = (time.perf_counter() - start) * 1e3
+        logger.debug(f"{self} read action: {dt_ms:.1f}ms")
+        return action
+
+    def send_feedback(self, feedback: dict[str, float]) -> None:
+        # TODO: Implement force feedback
+        raise NotImplementedError
+
+    @check_if_not_connected
+    def disconnect(self) -> None:
+        self.bus.disconnect()
+        logger.info(f"{self} disconnected.")
+
+
+SO100Leader: TypeAlias = SOLeader
+SO101Leader: TypeAlias = SOLeader