fix(scripts): bi so import

Author: imstevenpmwork

docs/source/envhub_leisaac.mdx

@@ -138,6 +138,7 @@ from lerobot.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
     make_teleoperator_from_config,
     so_leader,
+bi_so_leader,
 )
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import init_logging

examples/rtc/eval_with_real_robot.py

@@ -94,6 +94,7 @@
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
+    bi_so_follower,
     koch_follower,
     so_follower,
 )

src/lerobot/async_inference/robot_client.py

@@ -51,6 +51,7 @@
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
+    bi_so_follower,
     koch_follower,
     make_robot_from_config,
     omx_follower,

src/lerobot/rl/eval_policy.py

@@ -22,13 +22,14 @@
 from lerobot.policies.factory import make_policy
 from lerobot.robots import (  # noqa: F401
     RobotConfig,
+    bi_so_follower,
     make_robot_from_config,
     so_follower,
 )
 from lerobot.teleoperators import (
+    bi_so_leader,  # noqa: F401
     gamepad,  # noqa: F401
-    so_leader,  # noqa: F401
-)
+    )
 
 from .gym_manipulator import make_robot_env
 

src/lerobot/rl/gym_manipulator.py

@@ -54,6 +54,7 @@
 from lerobot.processor.converters import identity_transition
 from lerobot.robots import (  # noqa: F401
     RobotConfig,
+    bi_so_follower,
     make_robot_from_config,
     so_follower,
 )
@@ -66,10 +67,10 @@
     InverseKinematicsRLStep,
 )
 from lerobot.teleoperators import (
+    bi_so_leader,  # noqa: F401
     gamepad,  # noqa: F401
     keyboard,  # noqa: F401
     make_teleoperator_from_config,
-    so_leader,  # noqa: F401
 )
 from lerobot.teleoperators.teleoperator import Teleoperator
 from lerobot.teleoperators.utils import TeleopEvents

src/lerobot/scripts/lerobot_calibrate.py

@@ -36,6 +36,7 @@
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
+    bi_so_follower,
     hope_jr,
     koch_follower,
     lekiwi,
@@ -46,6 +47,7 @@
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
     TeleoperatorConfig,
+    bi_so_leader,
     homunculus,
     koch_leader,
     make_teleoperator_from_config,

src/lerobot/scripts/lerobot_find_joint_limits.py

@@ -44,13 +44,15 @@
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.robots import (  # noqa: F401
     RobotConfig,
+    bi_so_follower,
     koch_follower,
     make_robot_from_config,
     omx_follower,
     so_follower,
 )
 from lerobot.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
+    bi_so_leader,
     gamepad,
     koch_leader,
     make_teleoperator_from_config,

src/lerobot/scripts/lerobot_record.py

@@ -94,6 +94,7 @@
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
+    bi_so_follower,
     earthrover_mini_plus,
     hope_jr,
     koch_follower,
@@ -104,6 +105,7 @@
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
     TeleoperatorConfig,
+    bi_so_leader,
     homunculus,
     koch_leader,
     make_teleoperator_from_config,

src/lerobot/scripts/lerobot_replay.py

@@ -53,6 +53,7 @@
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
+    bi_so_follower,
     earthrover_mini_plus,
     hope_jr,
     koch_follower,

src/lerobot/scripts/lerobot_setup_motors.py

@@ -30,6 +30,7 @@
 
 from lerobot.robots import (  # noqa: F401
     RobotConfig,
+    bi_so_follower,
     koch_follower,
     lekiwi,
     make_robot_from_config,
@@ -38,6 +39,7 @@
 )
 from lerobot.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
+    bi_so_leader,
     koch_leader,
     make_teleoperator_from_config,
     omx_leader,