update all areas in code that need references to new robot type for bimanual so100

lerobot/__init__.py

@@ -181,6 +181,7 @@ available_robots = [
     "koch_bimanual",
     "aloha",
     "so100",
+    "so100_bimanual",
     "moss",
 ]
 

lerobot/common/robot_devices/robots/manipulator.py

@@ -229,7 +229,7 @@ class ManipulatorRobot:
 
         if self.robot_type in ["koch", "koch_bimanual", "aloha"]:
             from lerobot.common.robot_devices.motors.dynamixel import TorqueMode
-        elif self.robot_type in ["so100", "moss", "lekiwi"]:
+        elif self.robot_type in ["so100", "so100_bimanual", "moss", "lekiwi"]:
             from lerobot.common.robot_devices.motors.feetech import TorqueMode
 
         # We assume that at connection time, arms are in a rest position, and torque can
@@ -246,7 +246,7 @@ class ManipulatorRobot:
             self.set_koch_robot_preset()
         elif self.robot_type == "aloha":
             self.set_aloha_robot_preset()
-        elif self.robot_type in ["so100", "moss", "lekiwi"]:
+        elif self.robot_type in ["so100", "so100_bimanual", "moss", "lekiwi"]:
             self.set_so100_robot_preset()
 
         # Enable torque on all motors of the follower arms
@@ -299,7 +299,7 @@ class ManipulatorRobot:
 
                     calibration = run_arm_calibration(arm, self.robot_type, name, arm_type)
 
-                elif self.robot_type in ["so100", "moss", "lekiwi"]:
+                elif self.robot_type in ["so100", "so100_bimanual", "moss", "lekiwi"]:
                     from lerobot.common.robot_devices.robots.feetech_calibration import (
                         run_arm_manual_calibration,
                     )

lerobot/common/robot_devices/robots/utils.py

@@ -8,6 +8,7 @@ from lerobot.common.robot_devices.robots.configs import (
     ManipulatorRobotConfig,
     MossRobotConfig,
     RobotConfig,
+    So100BimanualRobotConfig,
     So100RobotConfig,
     StretchRobotConfig,
 )
@@ -44,6 +45,8 @@ def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
         return MossRobotConfig(**kwargs)
     elif robot_type == "so100":
         return So100RobotConfig(**kwargs)
+    elif robot_type == "so100_bimanual":
+        return So100BimanualRobotConfig(**kwargs)
     elif robot_type == "stretch":
         return StretchRobotConfig(**kwargs)
     elif robot_type == "lekiwi":